Vehicle lane change control methods and devices, storage media and electronic equipment

Abstract

This application provides a vehicle lane change control method and apparatus, storage medium, and electronic device. The method includes: 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 the lane change conditions are met reaches a specified number, wherein the lane change conditions are that there is no vehicle posing a collision risk to the current vehicle: determining whether there is a vehicle posing a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle posing a collision risk to the current vehicle in the adjacent lane; when there is a vehicle posing a collision risk to the current vehicle in at least one of the target lane and the adjacent lane, sending a lane change cooperation request to the vehicle posing a collision risk to cooperate with the current vehicle to change lanes to the target lane; and controlling the current vehicle to change lanes to the target lane when the number of times the lane change conditions are met reaches the specified number.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a vehicle lane change control method and apparatus, a storage medium, and an electronic device. Background Technology

[0002] When an autonomous vehicle is driving on the road, it may need to change lanes if there are situations such as a vehicle ahead traveling at a slow speed or insufficient remaining time for task execution. The relevant technology determines whether a collision will occur with a vehicle already in the target lane when the vehicle changes lanes. If a collision is not expected, the vehicle is controlled to change lanes to the target lane.

[0003] However, the aforementioned vehicle lane change control methods are not applicable to complex real-world road conditions. Vehicle collisions may occur during lane changes, thus reducing traffic efficiency. Therefore, it is evident that the vehicle lane change control methods in related technologies suffer from the problem of low traffic efficiency due to the susceptibility to vehicle collisions. Summary of the Invention

[0004] This application provides a vehicle lane change control method and apparatus, storage medium and electronic device, to at least solve the problem of low vehicle traffic efficiency caused by the easy occurrence of vehicle collisions in related technologies.

[0005] According to one aspect of the embodiments of this 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 the lane change condition is satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that poses a collision risk to the current vehicle: determining whether there is a vehicle that poses a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle that poses a collision risk to the current vehicle in a lane separated from the current vehicle's lane, wherein the lane separated from the target lane is a lane that is separated from the current vehicle's lane; if there is a vehicle that poses a collision risk to the current vehicle in at least one of the target lane and the lane separated from the target lane, sending a lane change cooperation request to the vehicle that poses a collision risk to the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; and when the number of times the lane change condition is satisfied reaches the specified number, controlling the current vehicle to change lanes to the target lane.

[0006] According to another aspect of the embodiments of this application, a vehicle lane change control device is also provided, comprising: a first execution unit, configured to repeatedly execute the following processing operations when a current vehicle is about to change lanes to an adjacent target lane, until the number of times the lane change condition is satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that poses a collision risk to the current vehicle: determining whether there is a vehicle that poses a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle that poses a collision risk to the current vehicle in a lane separated from the current vehicle's lane, wherein the lane separated from the target lane is a lane that is separated from the current vehicle's lane; if there is a vehicle that poses a collision risk to the current vehicle in at least one of the target lane and the lane separated from the target lane, sending a lane change cooperation request to the vehicle that poses a collision risk to the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; and a control unit, configured 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.

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

[0008] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions 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, causing the computer device to perform the steps in any of the method embodiments described above.

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

[0010] In this embodiment, a method is adopted whereby a lane-changing vehicle shares its driving intention with vehicles in adjacent and adjacent lanes, and cooperates in lane changing. When the current vehicle is about to change lanes to an adjacent target lane, the following processing operations are repeated until the allowed lane-changing conditions are met a specified number of times. The allowed lane-changing condition is that there is no vehicle posing a collision risk to the current vehicle: determining whether there is a vehicle posing a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle posing a collision risk to the current vehicle in an adjacent lane, wherein the adjacent lane is a lane separated from the current vehicle's lane by the target lane; if there is a vehicle posing a collision risk to the current vehicle in at least one of the target lane and the adjacent lane, a lane-changing cooperation request is sent to the vehicle posing a collision risk to request cooperation with the current vehicle. Vehicles at risk of collision cooperate with the current vehicle to change lanes to the target lane. Once the permitted lane-changing conditions have been met a specified number of times, the current vehicle is controlled to change lanes to the target lane. Because when the current vehicle intends to change lanes, it is determined whether there is a collision risk with vehicles in the adjacent lane (target lane) and the lanes beyond it, and lane-changing only occurs when it is determined that a collision will not occur, the probability of a collision between the current vehicle and vehicles in adjacent and beyond lanes can be reduced. Simultaneously, by sending lane-changing cooperation requests to vehicles at risk of collision with the current vehicle, sharing driving intentions with vehicles in adjacent and beyond lanes, the cooperation between vehicles can be improved, thereby achieving the technical effect of improving vehicle traffic efficiency. This solves the problem of low vehicle traffic efficiency caused by the susceptibility to vehicle collisions in related technologies' lane-changing control methods. Attached Figure Description

[0011] Figure 1 This is a hardware structure block diagram of an optional vehicle terminal according to an embodiment of this application;

[0012] Figure 2 This is a schematic flowchart of an optional vehicle lane change control method according to an embodiment of this application;

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

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

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

[0016] Figure 6 This is a schematic diagram illustrating an optional adjacent lane change risk assessment according to an embodiment of this application;

[0017] Figure 7 This is a schematic diagram illustrating an optional lane change risk assessment method according to an embodiment of this application;

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

[0019] Figure 9 This is a schematic diagram illustrating an optional overall implementation process of lane change request and coordination according to an embodiment of this application;

[0020] Figure 10 This is a schematic diagram of another optional vehicle lane change control method according to an embodiment of this application;

[0021] Figure 11 This is a schematic diagram of an optional horizontal coordination decision sub-process according to an embodiment of this application;

[0022] Figure 12 This is a schematic diagram of an optional vertical coordination decision-making sub-process according to an embodiment of this application;

[0023] Figure 13 This is a schematic diagram of another optional vehicle lane change control method according to an embodiment of this application;

[0024] Figure 14 This is a structural block diagram of an optional vehicle lane change control device according to an embodiment of this application;

[0025] Figure 15 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] According to one aspect of the present invention, a vehicle lane change control method is provided. Optionally, as an alternative implementation, the method embodiments provided in this application can be executed in an in-vehicle terminal, an in-vehicle terminal, or a similar computing device. Taking operation on an in-vehicle terminal as an example... Figure 1 This is a hardware structure block diagram of an optional vehicle-mounted terminal according to an embodiment of this application. For example... Figure 1 As shown, the vehicle-mounted terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The vehicle-mounted terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned vehicle-mounted terminal. For example, the vehicle-mounted terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

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

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

[0031] Optionally, as an alternative implementation, an intelligent driving system may be running on the in-vehicle terminal or the intelligent driving vehicle (autonomous 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 This is a schematic flowchart of an optional vehicle lane change control method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this 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, repeat the following processing operation until the number of times the lane change conditions are met reaches a specified number: determine whether there is a vehicle in the target lane that poses a collision risk to the current vehicle, and determine whether there is a vehicle in the adjacent lane that poses a collision risk to the current vehicle; if there is a vehicle in at least one of the target lane and the adjacent lane that poses a collision risk to the current vehicle, send a lane change cooperation request to the vehicle that poses a collision risk to the current vehicle to cooperate with the current vehicle in changing lanes to the target lane;

[0033] Step S204: If the number of times the lane change conditions are met reaches a specified number, control the current vehicle to change lanes to the target lane.

[0034] The vehicle lane change control method in this application embodiment can be applied to vehicle lane change scenarios, and is applicable to the intersection of intelligent transportation and intelligent driving. When an intelligent driving vehicle is driving on the road, it needs to change lanes when there are situations such as the vehicle in front moving slowly or insufficient remaining task execution time. Related technologies generally only consider whether the vehicle will collide with vehicles in the target lane when changing lanes to the target lane. If there are vehicles in the opposite lane direction to the vehicle's lane change direction in the lanes adjacent to the vehicle's lane change direction, i.e., there are vehicles on both sides changing lanes to the same lane simultaneously, there is also a risk of collision. Furthermore, in actual driving, there may be situations where some vehicles are significantly slower than surrounding vehicles, and large vehicles on highways may not drive in designated lanes, causing vehicles behind to frequently overtake by using the wrong lane.

[0035] For example, such as Figure 3 As shown, vehicle A is traveling straight in the middle lane, while vehicles B and C are simultaneously changing lanes into the middle lane. There is a risk of collision between vehicles B and C.

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

[0037] For example, such as Figure 5 As shown, Figure 5 This could indicate a highway situation where a large vehicle (M) was not driving in the slow lane as required, causing vehicles B and C to overtake using the middle lane. Figure 5 This can also represent urban driving conditions, where vehicle M is in the left-turn lane, and there are also large vehicles or slower-moving vehicles on the far right. Additionally, a narrowing of the road on both sides can also cause vehicles on both sides to simultaneously change lanes into the middle lane.

[0038] To reduce the risk of collisions when vehicles in adjacent lanes simultaneously change lanes towards the center, a lane change collision warning system can be used. This system issues a warning message to alert the driver to avoid a potential lane-changing conflict. However, while collision warnings can mitigate lane-changing conflicts to some extent, if the warning is not timely or the driver does not receive it promptly, the risk of collision remains, reducing vehicle safety.

[0039] To at least partially address the aforementioned issues, this embodiment employs a method where vehicles changing lanes share driving intentions with vehicles in adjacent and adjacent lanes, cooperating in lane changes. When a vehicle intends to change lanes, it determines whether there is a collision risk with vehicles in adjacent (target) and adjacent lanes. Lane changes only proceed when it is determined that a collision will not occur, thus reducing the probability of a collision. Simultaneously, by sending lane change cooperation requests to vehicles at risk of collision with the current vehicle, sharing driving intentions with vehicles in adjacent and adjacent lanes allows for cooperative driving, improving inter-vehicle cooperation and ultimately increasing traffic efficiency.

[0040] The current vehicle can be an autonomous vehicle traveling on a road, specifically in a lane. If the current vehicle intends to change lanes to an adjacent target lane, meaning it has the intention to do so, it can be determined whether the conditions for allowing the lane change are met. Here, the condition for allowing the lane change is the absence of a collision risk, i.e., the absence of any vehicle posing a collision risk to the current vehicle. Determining whether a collision risk exists (i.e., determining whether the conditions for allowing the lane change are met) can be divided into determining whether there is a collision risk between the current vehicle (the vehicle itself, the lane-changing vehicle) and adjacent vehicles (vehicles in adjacent lanes, i.e., vehicles in the target lane) and whether there is a collision risk between the current vehicle and vehicles in adjacent lanes (vehicles in lanes separated from the current vehicle's lane by the target lane).

[0041] Optionally, the overall architecture of the intelligent driving system may include a lane change request generation module, used to generate lane change requests for autonomous vehicles. Autonomous vehicles can change lanes in three ways: navigation lane change, efficiency lane change, and lever lane change. Navigation lane change refers to deciding on a driving action such as going straight, turning left, or turning right at an intersection based on a global path generated by navigation. Efficiency lane change occurs when a slow-moving vehicle is obstructing the vehicle's path for an extended period, and the vehicle chooses to go around the slow-moving vehicle to increase its speed. Lever lane change is when the driver uses a lever to request the vehicle to move to the target lane. The lane change request generation module responds to any of these lane change triggering methods, generating a lane change request (i.e., generating a lane change intention to change lanes to the target lane).

[0042] If there are no vehicles posing a collision risk to the current vehicle in either the target lane or the adjacent lanes, then the lane-changing condition is considered met. In this case, the current vehicle can be directly controlled to change lanes to the target lane. Considering that vehicle movement is a dynamic process, the following situation exists: the lane-changing condition may be met at a certain moment or within a short period, but may not be met after that moment or period. Since lane changing takes time, if the vehicle changes lanes immediately upon meeting the lane-changing condition, there is a certain risk of collision. Therefore, the operation of determining whether the lane-changing condition is met can be repeated until the lane-changing condition is met a specified number of times (which could be consecutively met); once the specified number of times the lane-changing condition is met is reached, the current vehicle is controlled to change lanes to the target lane.

[0043] Here, the specified number is the number of times the lane change condition is allowed to be met. When the specified number is 1, the vehicle will change 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 will only change lanes when the number of consecutive times the lane change condition is met reaches the specified number.

[0044] Optionally, in this embodiment, to improve the efficiency of lane changing, the current vehicle may have a cooperative autonomous driving function, which can share driving intentions with vehicles in the target lane and adjacent lanes, improving the cooperation between vehicles, thereby reducing the probability of collisions and increasing overall traffic efficiency. Optionally, if there is a vehicle with a collision risk with the current vehicle in at least one of the target lane and adjacent lanes, a lane change cooperation request is sent to the vehicle with the collision risk to request the vehicle with the collision risk to cooperate with the current vehicle in changing lanes to the target lane.

[0045] For vehicles in different lanes, the methods for configuring the current vehicle to change lanes to the target lane can be different. For example, for adjacent vehicles in the target lane, the methods for configuring the current vehicle to change lanes to the target lane can include, but are not limited to, at least one of the following: accelerating, decelerating, or changing lanes. For vehicles in separate lanes, the methods for configuring the current vehicle to change lanes to the target lane can include, but are not limited to, at least one of the following: accelerating to change lanes, decelerating to change lanes, or pausing to change lanes. In this embodiment, the method for coordinating the current vehicle to change lanes to the target lane is not limited.

[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 lanes that pose a collision risk to the current vehicle, the number of times the lane change conditions are met will be incremented by 1; if there are vehicles in at least one of the target lane and the adjacent lanes that pose a collision risk to the current vehicle, the number of times the lane change conditions are met will be reset to 0, and a lane change cooperation request can also be sent to the vehicle that poses a collision risk to the current vehicle.

[0047] Optionally, sending a lane change cooperation request to a vehicle at risk of collision with the current vehicle can be performed through the V2X (Vehicle to Everything) module on the current vehicle. Correspondingly, in this embodiment of the application, from the perspective of V2X intelligent network connectivity, a solution is provided based on vehicle-to-vehicle cooperative V2X functions to solve the problem of lane change conflicts between a lane-changing vehicle and adjacent or separated lanes. The method of sending a lane change cooperation request to a vehicle at risk of collision with the current vehicle can be: broadcasting the lane change cooperation request to the vehicle at risk of collision with the current vehicle through the V2X module of the current vehicle.

[0048] During the process of controlling the current vehicle to change lanes to the target lane, to ensure the safety of the lane change process, the current vehicle can broadcast its status information so that surrounding vehicles are aware of this information. Here, the vehicle status indicated by the broadcast status information is a lane-change related vehicle status, which may include, but is not limited to, at least one of the following: lane change preparation status, lane change status, and lane change completed status. The current vehicle status information can be broadcast via a V2X module.

[0049] The embodiments provided in this application, when a vehicle is about to change lanes to an adjacent target lane, repeatedly perform the following processing operations until the allowed lane change conditions are met a specified number of times, wherein the allowed lane change conditions are that there is no vehicle posing a collision risk to the current vehicle: determining whether there is a vehicle posing a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle posing a collision risk to the current vehicle in an adjacent lane, wherein the adjacent lane is a lane separated from the current vehicle's lane by the target lane; if there is a vehicle posing a collision risk to the current vehicle in at least one of the target lane and the adjacent lane, send a lane change cooperation request to the vehicle posing a collision risk to cooperate with the current vehicle to change lanes to the target lane; when the allowed lane change conditions are met a specified number of times, control the current vehicle to change lanes to the target lane. This solves the problem of low vehicle traffic efficiency caused by easy vehicle collisions in the vehicle lane change control methods of the related art, reduces the probability of vehicle collisions, and improves vehicle traffic efficiency.

[0050] In an exemplary embodiment, determining whether there is a vehicle in the target lane that poses a collision risk to the current vehicle includes: if there are no vehicles within a first distance range of the target lane, determining that there are no vehicles in the target lane that pose a collision risk to the current vehicle; if there is a first adjacent vehicle within the first distance range of the target lane, determining that the first adjacent vehicle in the target lane poses a collision risk to 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; 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, determining the distance in the longitudinal direction between the rear position of the current vehicle and the front position of the next vehicle in the current vehicle and the first adjacent vehicle to obtain a first vehicle distance; if the result of dividing the first vehicle distance by the speed of the current vehicle and the next vehicle in the first adjacent vehicle is less than or equal to a first time threshold, determining that the first adjacent vehicle in the target lane poses a collision risk to the current vehicle; and if the result of dividing the first vehicle distance by the speed of the current vehicle and the next vehicle in the first adjacent vehicle is greater than the first time threshold, determining that there are no vehicles in the target lane that pose a collision risk to the current vehicle.

[0051] When determining whether there is a risk of collision between the current vehicle and adjacent vehicles in the target lane, the current vehicle's front and rear positions, the front and rear positions of adjacent vehicles in the target lane, the current vehicle's speed, and the speed of adjacent vehicles in the target lane can be used to determine whether there is a vehicle in the target lane that poses a collision risk to the current vehicle.

[0052] In this embodiment, it can first be determined whether there are vehicles within a certain distance range of the adjacent lane in the lane-changing direction, that is, whether there are vehicles within a first distance range of the target lane. If there are no vehicles within the first distance range of the target lane, it can be determined that there are no vehicles in the target lane that pose a collision risk to the current vehicle. Here, the first distance range is the distance range in the longitudinal direction including the current vehicle's location. It can be configured and adjusted based on experience or through big data analysis, and the longitudinal direction can be the driving direction of the current vehicle's lane or the target lane. For example, the first distance range is a certain distance range in front of and behind the current vehicle's position (e.g., 200 meters in front and behind).

[0053] If a vehicle exists within the first distance range of the target lane, i.e., the first adjacent vehicle, it can be determined whether there is a collision risk between the first adjacent vehicle and the current vehicle. The relative positions of the first adjacent vehicle and the current vehicle can be varied, and different judgment methods can be used for different relative positions. If 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 (for example, the first adjacent vehicle is located to the right front, right rear, directly right, left front, left rear, or directly left of the current vehicle), it can be determined that there is a collision risk between the first adjacent vehicle and the current vehicle. The vehicle with a collision risk with the current vehicle includes 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 to the right front, right rear, left front, or left rear of the current vehicle), the longitudinal distance between the current vehicle and the first adjacent vehicle can be determined. That is, the distance between the rear position of the current vehicle and the front position of the next vehicle in the longitudinal direction. If the result of dividing the first vehicle distance by the speed of the current vehicle and the next vehicle is less than or equal to a 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. It can be determined that there is a collision risk 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 next 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 a collision is unlikely to occur during the lane change. It can be determined that there is no vehicle in the target lane that poses a collision risk to 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 first vehicle between the current vehicle and the first adjacent vehicle is greater than or equal to the speed of the second vehicle between the current vehicle and the first adjacent vehicle, it can be determined that there is no vehicle in the target lane that poses a collision risk to 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 first vehicle between the current vehicle and the first adjacent vehicle is less than the speed of the second vehicle between the current vehicle and the first adjacent vehicle, the aforementioned first vehicle distance can be determined; if the result of dividing the first vehicle distance by the absolute value of the speed difference between the current vehicle and 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 poses a collision risk to the current vehicle; otherwise, it is determined that there is a collision risk between the first adjacent vehicle and the current vehicle.

[0056] For example, see Figure 6 , Figure 6 This diagram illustrates the risk assessment for lane changes in adjacent lanes. Taking vehicle A as an example, it assesses whether there is a collision risk between vehicle A and vehicle B in the adjacent lane. An SL coordinate system (Frenet coordinate system) is established ("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). The S coordinates corresponding to the front and rear of vehicle A are represented by S... end_a S start_a This indicates that the S-coordinates corresponding to the front and rear of vehicle B are represented by S...end_b S start_b This indicates that the corresponding speeds of the two vehicles are V. a and V b Determine whether vehicle A poses a collision risk when changing lanes, based on the following conditions:

[0057] Scenario 1: When vehicle B is to the right front of vehicle A, and both formulas (1) and (2) are true, a collision risk is determined. Formulas (1) and (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 and rear of vehicle B), a collision risk is determined.

[0061] Scenario 2: When vehicle B is to the right front of vehicle A, and formulas (3) and (4) hold true, a collision risk is determined. Formulas (3) and (4) are as follows, where β thw This represents the time threshold for determining whether a collision has occurred (an example of a first time threshold, which could be 4 seconds):

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

[0063]

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

[0065] Scenario 3: When vehicle B is directly to the right of vehicle A, and either formula (5) or formula (6) is true, a collision risk is determined. Formulas (5) and (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, a collision risk is determined when the rear of vehicle B is in front of the rear of vehicle A and the front of vehicle B is behind the front of vehicle A (vehicle B is in the middle of vehicle A), or when the rear of vehicle B is behind the rear of vehicle A and the front of vehicle B is in front of the front of vehicle A (vehicle A is in the middle of vehicle B).

[0069] Scenario 4: When vehicle B is to the right rear of vehicle A, and both formulas (7) and (8) are true, a collision risk is determined. Formulas (7) and (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 and rear of vehicle B), a collision risk is determined.

[0073] Scenario 5: When vehicle B is to the right rear of vehicle A, and both formulas (9) and (10) are true, a collision risk is determined. Formulas (9) and (10) are as follows:

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

[0075]

[0076] That is, when the rear of vehicle A is in front of the front of vehicle B, and the longitudinal distance between the rear of vehicle A and the front of vehicle B divided by the speed of vehicle B is less than a set time threshold, a collision risk is determined to exist.

[0077] This embodiment uses the current vehicle's front and rear positions, the front and rear positions of adjacent vehicles in the target lane, the current vehicle's speed, and the speeds of adjacent vehicles in the target lane to determine whether there is a collision risk between the current vehicle and adjacent vehicles in the target lane, which can improve the accuracy and convenience of collision risk assessment.

[0078] In an exemplary embodiment, determining whether there is a vehicle in the adjacent lane that poses a collision risk to the current vehicle includes: if there are no vehicles within a second distance range of the adjacent lanes, determining that there are no vehicles in the adjacent lanes that pose a collision risk to the current vehicle; if there are adjacent vehicles within the second distance range of the adjacent lanes, determining that there are no vehicles in the adjacent lanes that pose a collision risk to the current vehicle when none of the adjacent vehicles within the second distance range of the adjacent lanes intend to change lanes to the target lane; if there is a first adjacent vehicle within the second distance range of the adjacent lanes that intends to change lanes to the target lane, and 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, determining that the first adjacent vehicle in the adjacent lane poses a collision risk to the current vehicle; when the second distance range of the adjacent lanes... If a second vehicle with the intention to change lanes to the target lane exists 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 vehicle is located in the longitudinal direction, the distance between the rear position of the first vehicle and the front position of the second vehicle in the longitudinal direction is determined to obtain the second vehicle distance. If the result of dividing the second vehicle distance by the speed of the second vehicle is less than or equal to a second time threshold, it is determined that there is a risk of collision between the second vehicle and the current vehicle in the separated lanes. If the result of dividing the second vehicle distance by the speed of the second vehicle is greater than the second time threshold, it is determined that there is no vehicle in the separated lanes that poses a risk of collision with the current vehicle.

[0079] When determining whether there is a risk of collision between the current vehicle and vehicles in the adjacent lane, the current vehicle's front and rear positions, the adjacent vehicles' front and rear positions, the current vehicle's speed, and the adjacent vehicles' speeds can be used to determine whether there is a vehicle in the adjacent lane that poses a collision risk to the current vehicle.

[0080] In this embodiment, it can first be determined whether there are adjacent lanes in the direction of lane change. If not, it can be directly determined that there are no vehicles in adjacent lanes that pose a collision risk to the current vehicle. If there are, it can be further determined whether there are vehicles within a certain distance range of the adjacent lanes, that is, whether there are vehicles within a second distance range of the adjacent lanes. If there are no vehicles within the second distance range of the adjacent lanes, it can be determined that there are no vehicles in adjacent lanes that pose a collision risk to the current vehicle. Here, the second distance range is a distance range in the longitudinal direction including the current vehicle's location, which can be configured and adjusted based on experience or through big data analysis. For example, the second distance range is a certain distance range in front of and behind the current vehicle's position (e.g., 200 meters in front and behind). The first distance range and the second distance range can be the same or different.

[0081] If there are vehicles separated by a second distance in adjacent lanes, it can be determined whether these vehicles intend to change lanes to the target lane (either they are preparing to change lanes or are already doing so). This determination can be based on whether a lane change request or broadcast status information has been received from these vehicles. If there are vehicles separated by a second distance in adjacent lanes, and none of these vehicles intend to change lanes to the target lane, it can be determined that there are no vehicles in adjacent lanes that pose a collision risk to the current vehicle.

[0082] If a first vehicle with the intention to change lanes to the target lane exists within the second distance range of the adjacent lanes, and the vehicle area where the current vehicle is located in the longitudinal direction intersects with the vehicle area where the first vehicle is located in the longitudinal direction, then it can be determined that there is a risk of collision between the first vehicle and the current vehicle. The vehicle areas where the current vehicle is located in the longitudinal direction and the vehicle areas where the first vehicle is located in the longitudinal direction are similar to those in the previous embodiments, and will not be described again here.

[0083] If, within the second distance range of the adjacent lanes, there exists a second vehicle with the intention to change lanes to the target 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 first vehicle and the front position of the second vehicle in the longitudinal direction can be determined to obtain the second vehicle distance. If the result of dividing the second vehicle distance by the speed of the current vehicle and the second vehicle in the longitudinal direction is less than or equal to a second time threshold, it is determined that there is a collision risk between the second vehicle in the adjacent lane and the current vehicle. If the result of dividing the second vehicle distance by the speed of the current vehicle and the second vehicle in the longitudinal direction is greater than the second time threshold, it is determined that there is no vehicle in the adjacent lane that poses a collision risk to 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 may be the same as or different from the first time threshold) are similar to those in the previous embodiments and will not be repeated 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 first vehicle between the current vehicle and the second-separated vehicle is greater than or equal to the speed of the second vehicle between the current vehicle and the second-separated vehicle, it can be determined that there is no vehicle in the separated lane that poses a collision risk to 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 first vehicle between the current vehicle and the second-separated vehicle is less than the speed of the second vehicle between the current vehicle and the second-separated vehicle, the aforementioned second vehicle distance can be determined; if the result of dividing the second vehicle distance by the absolute value of the speed difference between the current vehicle and 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 poses a collision risk to the current vehicle; otherwise, it is determined that there is a collision risk between the second-separated vehicle and the current vehicle.

[0085] For example, see Figure 7 , Figure 7This is a schematic diagram for assessing the risk of lane changes between adjacent lanes. Taking vehicle A and vehicle B simultaneously changing lanes to the target lane as an example, it is determined whether there is a collision risk between them. Taking vehicle A as the vehicle to be assessed, when vehicle A changes lanes to the right, it is first determined whether there is an adjacent lane on the right. If there is, it is further determined whether there is a collision risk with the vehicle in the adjacent lane. First, it is determined whether the lane change direction of vehicle B is opposite to that of vehicle A. If they are opposite, it is determined according to formulas (1) to (5). If any of the conditions in formulas (1) to (5) are 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] This embodiment improves the accuracy and convenience of collision risk assessment by determining whether vehicles in adjacent lanes intend to change lanes to the same lane as the current vehicle. When such vehicles do, the system determines whether there is a risk of collision between the current vehicle and the adjacent vehicles in adjacent lanes based on the current vehicle's front and rear positions, the front and rear positions of the vehicles in adjacent lanes, the current vehicle's speed, and the speeds of adjacent vehicles in adjacent lanes.

[0087] In one exemplary embodiment, sending a lane change cooperation request to a vehicle that poses a collision risk with the current vehicle includes: when the vehicle that poses a collision risk with the current vehicle includes a second adjacent vehicle in a target lane, sending a target longitudinal cooperation request to the second adjacent vehicle; and when the vehicle that poses a collision risk with the current vehicle includes a third adjacent vehicle in a separate lane, sending a target lateral cooperation request to the third adjacent vehicle.

[0088] In this embodiment, different lane change coordination requests can be used for adjacent vehicles in adjacent lanes and vehicles separated by two lanes, requesting them to perform different coordination actions. When the vehicle with a collision risk to the current vehicle includes a second adjacent vehicle in the target lane, a target longitudinal coordination request can be sent to the second adjacent vehicle. The lane change coordination request includes a target longitudinal coordination request, which requests the second adjacent vehicle to adjust its speed to coordinate with the current vehicle in changing lanes to the target lane. The speed adjustment can be achieved by accelerating or decelerating. Optionally, the target longitudinal coordination request can also indicate the desired adjusted speed.

[0089] When a vehicle posing a collision risk to the current vehicle includes a third vehicle in an adjacent lane, a target lateral coordination request can be sent to the third vehicle. This target lateral coordination request requests the third vehicle to temporarily cancel its lane change and coordinate with the current vehicle to change lanes into the target lane. This temporary cancellation can be done by canceling the lane change for a certain period and then retrying the lane change, or by canceling the lane change until the current vehicle completes its lane change. Optionally, the target lateral coordination request can also indicate the expected duration of the lane change cancellation.

[0090] This embodiment uses different coordination request instructions for adjacent vehicles in adjacent lanes and vehicles in inter-lane lanes to configure the current vehicle to change lanes in different ways, which can improve the flexibility of lane change control and improve the efficiency of vehicle traffic.

[0091] In one exemplary embodiment, different request information lists can be used to store request information for lane change coordination requests sent to adjacent vehicles and request information for lane change coordination requests sent to vehicles in adjacent lanes that pose a collision risk with the current vehicle. For the current vehicle, request information for lane change coordination requests sent to vehicles in the target lane that pose a collision risk with the current vehicle is stored in a first request information list, and request information for lane change coordination requests sent to vehicles in adjacent lanes that pose a collision risk with the current vehicle is stored in a second request information list.

[0092] Correspondingly, after determining whether there is a vehicle in the target lane that poses a collision risk to the current vehicle, the method further includes: if there is no vehicle in the target lane that poses a collision risk to the current vehicle, clearing the first request information list. Here, considering that determining whether the lane change permission condition is met may be performed multiple times, the first request information list is cleared each time it is determined that there is no vehicle in the target lane that poses a collision risk to the current vehicle, so that the request information in the first request information list can represent vehicles in the target lane that pose a collision risk to the current vehicle. Similarly, after determining whether there is a vehicle in the adjacent lane that poses a collision risk to the current vehicle, the method further includes: if there is no vehicle in the adjacent lane that poses a collision risk to 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 its configured cooperation strategy. If it cooperates with the current vehicle to change lanes to the target lane, it sends a lane change cooperation feedback message 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 message to the current vehicle.

[0094] Correspondingly, after sending a lane change cooperation request to a vehicle that poses a collision risk with the current vehicle, the method further includes: upon receiving a lane change cooperation feedback message returned by a third adjacent vehicle in the target lane that poses a collision risk with the current vehicle in response to the lane change cooperation request, clearing the request information corresponding to the third adjacent vehicle from the first request information list; and upon receiving a lane change cooperation feedback message returned by a fourth vehicle in a separate lane that poses a collision risk with the current vehicle in response to the lane change cooperation request, clearing the request information corresponding to the fourth vehicle in the second request information list.

[0095] After sending a lane change coordination request, the current vehicle can wait for a certain period of time to receive lane change coordination feedback information from vehicles that pose a collision risk with it. If a lane change coordination feedback information is received from a third adjacent vehicle in the target lane that poses a collision risk with the current vehicle in response to the lane change coordination request, the request information corresponding to the third adjacent vehicle in the first request information list can be cleared; if a lane change coordination feedback information is received from a fourth vehicle in a different lane that poses a collision risk with the current vehicle in response to the lane change coordination request, the request information corresponding to the fourth vehicle in the second request information list can be cleared.

[0096] By performing the above processing on the first and second request information lists, the remaining request information in the first and second request information lists, along with vehicles that have not cooperated with the current vehicle in changing lanes to the target lane and are at risk of collision with the current vehicle, are matched. Therefore, whether the lane change condition is met can be determined based on whether both the first and second request information lists are empty. If both the first and second request information lists are empty, the lane change condition is met; if not both are empty, the lane change condition is not met.

[0097] In this embodiment, the request information of the lane change cooperation request sent by the current vehicle is stored in the request information list, and the request information list is updated based on the received lane change cooperation feedback information. This allows the determination of whether the lane change conditions are met based on the request information in the request information list, thereby improving the accuracy and convenience of information acquisition.

[0098] In an exemplary embodiment, during the process of controlling the current vehicle to change lanes to the target lane, the method further includes: broadcasting the current vehicle's status information through the current vehicle; and continuously determining 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.

[0099] In this embodiment, to avoid vehicle collisions during lane changing, the current vehicle can broadcast its status information while controlling the current vehicle to change lanes to the target lane, indicating that the current vehicle is in a lane-changing state. The broadcasting of status information can be continuous; for example, the current vehicle's status information can be broadcast at regular intervals until the current vehicle completes the lane change, cancels the lane change, or other termination conditions are met.

[0100] Optionally, the vehicle can also continuously determine whether it has completed the lane change based on the relationship between its center position and the target lane's lane range. If the vehicle's center position is within the target lane's lane range, the lane change is considered complete; otherwise, the lane change is considered incomplete.

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

[0102] The vehicle lane change control method in this application embodiment will be explained below with reference to optional examples. This optional example provides a scheme that simultaneously considers lane change requests and coordination between adjacent and spaced lanes. The structure of the intelligent driving system implementing 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 request generation module, an adjacent lane request module for the lane change direction, a lane change request module for the lanes separated by one lane in the lane change direction, a module for responding to adjacent lane lane change requests, a module for responding to lane change requests for the lanes separated by one lane, a V2X data interaction module, and a driving planning module. The other modules, except for the lane change request generation module, will be explained below.

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

[0104] This module is primarily used to send lane change request information to adjacent lanes (i.e., vehicles 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 separation request module for lane change direction

[0106] This module is mainly used to send lane change request information to vehicles in adjacent lanes, 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 next lane, this module will be called to generate a request for information about the next lane.

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

[0108] This module corresponds to the adjacent lane request module for lane change direction; that is, it responds to the request information issued by the adjacent lane request module of vehicles in adjacent lanes. Figure 3 If vehicle B changes lanes and requests cooperation from vehicle A which is traveling straight, vehicle A will call this module to send a response cooperation message.

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

[0110] This module corresponds to the lane-separated lane request module for lane-changing directions; that is, it responds to the request information issued by the lane-separated lane request module for vehicles in adjacent lanes. For example... Figure 3 In the middle, when vehicle C cooperates with vehicle B to change lanes, this module will be invoked.

[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 based on the decisions made during planning, and control the vehicle's movement.

[0115] In order to achieve efficient request collaboration and response when vehicles change lanes, a collaborative data structure for transmitting information can be defined, as shown in Table 1.

[0116] Table 1. Request and Cooperation Message Structure Definition

[0117]

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

[0119] Table 2. Explanation of Data Members and Their Meanings

[0120]

[0121] Among them, lane change direction is information used to determine whether there is a conflict between vehicles; lane change stage and lane change duration are used to calculate the priority of lane changes. Figure 3Taking vehicles A, B, and C as an example, when vehicles B and C simultaneously change lanes to the middle lane, vehicle B can send a longitudinal speed coordination request to vehicle A to slow down, and simultaneously send a lateral lane change coordination request to vehicle C to proceed straight, thereby avoiding the risk of collision and achieving a smooth lane change. Therefore, lane change requests can be divided into longitudinal speed coordination requests (an example of a longitudinal coordination request) and lateral lane change coordination requests (an example of a lateral coordination request). The corresponding responses can be defined as longitudinal speed coordination responses and lateral lane change coordination responses (examples of lane change feedback information). Longitudinal speed coordination requests (longitudinalRequests) are stored using a vector data structure, indicating that multiple vehicle requests requiring longitudinal speed coordination can be stored. Other data using a vector data structure are considered in a similar manner.

[0122] Figure 9 This is a schematic diagram illustrating an optional lane change request and coordination process according to an embodiment of this application, in conjunction with... Figure 9 The process for requesting and cooperating with lane change requests includes the following steps:

[0123] Step S1: Determine whether the lane change request generation module has generated a lane change intention. If not, continue to determine until a lane change intention is generated before proceeding to the next step.

[0124] Step S2: Enter the lane change preparation (preChange) stage and record the current time information t;

[0125] Step S3: Initialize the lane change safety trigger count (safeCount). This value is used to record whether the lane change safety conditions are consistently met (an example of lane change allowance conditions).

[0126] Step S4: Determine whether there are any vehicles within a certain distance range (e.g., 200 meters in front of and behind the current vehicle) of the adjacent lane in the direction of lane change. If there are, proceed to step S5; otherwise, proceed to step S8.

[0127] Step S5: Determine whether there is a risk of collision between the vehicle and a vehicle in the adjacent lane (the determination method is similar to that in the previous embodiment). If there is a risk, proceed to step S6; otherwise, proceed to step S8.

[0128] Step S6: In order to achieve a faster lane change, if there is only a risk of collision with the vehicle in front in the target lane, the vehicle can slow down appropriately; if there is only a risk of collision with the vehicle behind in the target lane, the vehicle can accelerate appropriately; otherwise (i.e., there is a risk of collision with both the vehicle in front and the vehicle behind in the target lane), the vehicle continues to maintain its current state and waits for the opportunity to change lanes.

[0129] Step S7: Generate longitudinal speed request information (the message content is defined in Table 2 for the LongitudinalSpeed-Cooperation structure). Taking changing lanes to the right as an example, if a vehicle in the target lane that poses a collision risk to this vehicle is located to the right front or directly to the right of this vehicle, an acceleration request is generated; otherwise, a deceleration request is generated. The generated request information is placed in list1 (longitudinal cooperation request information list, or longitudinal lane change request information list, an example of the first request information list), and then proceed to step S9.

[0130] Step S8: Clear the vertical coordination request information list1;

[0131] Step S9: Determine whether there are adjacent lanes in the direction of lane change. If there are no lanes, or even if there are lanes but there are no vehicles within a certain distance range (e.g., 200 meters in front of and behind the current vehicle), proceed to step S12.

[0132] Step S10: Determine whether there is a risk of collision between the vehicle and a vehicle in the next lane (the determination method is similar to that in the previous embodiment). If there is a risk, proceed to step S11; otherwise, proceed to step S12.

[0133] Step S11: Generate a lateral lane change request message (the message content is defined in Table 2 under the LateralLaneChange-Cooperation structure). The request expects the other vehicle's driving behavior to be "going straight" and suppresses its lane change, thereby achieving the purpose of giving the vehicle priority in lane change. Place the generated request message in list2 (lateral cooperation request message list, or lateral lane change request message list, an example of the second request message list), and jump to step S13.

[0134] Step S12: Clear the horizontal cooperation request information list2;

[0135] Step S13: Determine whether lists list1 and list2 are both empty. If they are, it means that there is no risk of collision between this vehicle and vehicles in adjacent and adjacent lanes, and it is safe to change lanes. Otherwise, proceed to step S16.

[0136] Step S14: The safeCount value of lane change safety triggers is increased by 1;

[0137] Step S15: The vehicle status information is broadcast to surrounding vehicles via the V2X module; proceed to step S20.

[0138] Step S16: Set the safeCount value of lane change safety trigger to 0 (in order to ensure that the lane change safety trigger is safe three times in a row, if the safety trigger is not met once, the value must be set to 0).

[0139] Step S17: The request information and the vehicle status information are broadcast to surrounding vehicles via the V2X module;

[0140] Step S18: Receive feedback information from the remote vehicle and clear the corresponding request information in list1 or list2. For example, if this vehicle requests acceleration cooperation from vehicle ID "0001" and receives acceleration feedback from vehicle ID "0001", then delete that vehicle ID from list1.

[0141] Step S19: Determine whether lists list1 and list2 are both empty. If they are, proceed to step S15; otherwise, proceed to step S25.

[0142] Step S20: Determine if the safeCount value is greater than or equal to 3. If not, proceed to step S25.

[0143] Step S21: The safe lane-changing conditions are met, and the lane-changing state is entered.

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

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

[0146] Step S24: Lane change completed; proceed to step S26.

[0147] Step S25: Since there may be a lane change cancellation behavior before the lane change starts, it is necessary to determine whether the lane change intention still exists. If it does, proceed to step S4; otherwise, proceed to step S26.

[0148] Step S26, process ends.

[0149] This optional example, taking into account both lane change requests and coordination in adjacent and adjacent lanes, provides a scheme for lane-changing vehicles to request and cooperate with vehicles in adjacent and adjacent lanes. It adopts efficient cooperative driving of request and coordination, and solves the problems of lane change danger and low lane change coordination rate in existing lane change processes.

[0150] In one exemplary embodiment, the current vehicle can send coordination feedback information to adjacent vehicles and vehicles separated by a distance. The implementation process of the coordination feedback can be as follows: Figure 10As shown, firstly, it is determined whether the current vehicle has received a request from another vehicle to cooperate in changing lanes. If not, the process ends, indicating that there is no need to cooperate with the other vehicle in changing lanes. If a request from another vehicle to cooperate in changing lanes is received, the current vehicle will enter either the longitudinal cooperation decision subprocess or the lateral cooperation decision subprocess, depending on whether the current vehicle intends to change lanes.

[0151] For lateral coordination decisions, the current vehicle can receive lateral lane change requests sent by vehicles in adjacent lanes. In order to facilitate cooperation with adjacent vehicles in lane changes, the current vehicle can save the request information of the received lateral lane change requests to a third request information list. The lateral lane change requests received by the current vehicle are requests sent by adjacent vehicles in adjacent lanes that are waiting to change lanes to the target lane or are changing lanes to the target lane, for requesting the current vehicle to cooperate in changing lanes.

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

[0153] If the group of vehicles spaced apart indicated by the request information in the third request information list includes a vehicle of a specified type, which is a vehicle with the highest right-of-way, such as an emergency vehicle responding to an emergency call, then the current vehicle is controlled to temporarily cancel lane changing (i.e., this vehicle cancels lane changing), directly enters the cooperation state, and sends cooperation lane changing feedback information to the vehicle of the specified type.

[0154] As another optional implementation, the method further includes: 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 a group of spaced vehicles to request the group of spaced vehicles to cooperate with the current vehicle in changing lanes.

[0155] Here, the current vehicle is changing lanes to the left, meaning that a group of adjacent vehicles are changing lanes to the right. Changing lanes to the left usually means that the current vehicle is overtaking. To ensure traffic efficiency, the current vehicle's lane change process can be prioritized. In this case, the current vehicle continues to maintain its lane change state while sending requests for assistance to the adjacent group of vehicles.

[0156] As another optional implementation, the above method further includes: 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 vehicle in a lane change state in a group of adjacent vehicles, controlling the current vehicle to temporarily cancel the lane change and sending a lane change cooperation feedback message to the fifth vehicle.

[0157] Here, although the current vehicle is changing lanes to the left, it is in the lane change preparation state (has not yet started changing lanes). In a group of separated vehicles, there is a separated vehicle in the lane change state, namely the fifth separated vehicle. In order to ensure the continuity of lane changes, 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 both the current vehicle and a group of adjacent vehicles are in a lane change preparation state, the method can determine whether the lane change priority of the current vehicle is higher than the lane change priority of the adjacent vehicle corresponding to the maximum lane change duration based on the maximum lane change duration of the current vehicle and the lane change duration of the group of adjacent vehicles; if the lane change priority of the current vehicle is higher than the lane change priority of the adjacent vehicle corresponding to the maximum lane change duration, the method controls the current vehicle to maintain the lane change preparation state and sends a lane change assistance request to the group of adjacent vehicles to request the group of adjacent 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 adjacent vehicle corresponding to the maximum lane change duration, the method controls the current vehicle to temporarily cancel the lane change and sends a lane change cooperation feedback information to the adjacent vehicles corresponding to the maximum lane change duration. Here, the lane change duration of the current vehicle is the duration from the moment the current vehicle enters the lane change preparation state to the current moment, and the lane change duration of each adjacent vehicle is the duration from the moment each adjacent vehicle enters the lane change preparation state to the current moment.

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

[0160] In this embodiment, for scenarios where the current vehicle and adjacent vehicles change lanes into the same lane, the order of lane changes can be determined based on information such as the vehicle status and lane change duration of the current vehicle and adjacent vehicles. This can improve the orderliness of lane changes and increase the efficiency of vehicle traffic.

[0161] In an exemplary embodiment, when the current vehicle changes lanes to the right, the order of lane changes can be determined based on information such as the vehicle status of the current vehicle and the vehicles next to it, and the duration of the lane change.

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

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

[0164] As another optional implementation, the method further includes: when the current vehicle is changing lanes to the right, the current vehicle is in a lane-changing state, and all vehicles in a group of adjacent 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 adjacent vehicles to request the group of adjacent vehicles to cooperate with the current vehicle in changing lanes.

[0165] Here, although a group of vehicles are changing lanes to the left, they are all in the lane change preparation state (have not yet started changing lanes), while the current vehicle is in the lane change state. In order to ensure the continuity of lane changes, the current vehicle can maintain the lane change state and send a lane change assistance request to a group of vehicles, requesting the group of 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 both the current vehicle and a group of adjacent vehicles are in a lane change preparation state, the method can determine whether the lane change priority of the current vehicle is higher than the lane change priority of the adjacent vehicle corresponding to the maximum lane change duration based on the maximum lane change duration of the current vehicle and the lane change duration of the adjacent vehicles; if the lane change priority of the current vehicle is higher than the lane change priority of the adjacent vehicle corresponding to the maximum lane change duration, the method controls the current vehicle to maintain the lane change preparation state and sends a lane change assistance request to the adjacent vehicles to request the adjacent 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 adjacent vehicles corresponding to the maximum lane change duration, the method controls the current vehicle to temporarily cancel the lane change and sends a lane change cooperation feedback information to the adjacent vehicles corresponding to the maximum lane change duration.

[0167] Optionally, the method for determining whether the lane change priority of the current vehicle is higher than the lane change priority of the adjacent vehicle corresponding to the maximum lane change duration, based on the current vehicle's lane change duration and the maximum lane change duration among a group of adjacent vehicles, can be as follows: if the current vehicle's lane change duration is less than 1 multiplied by a second specified coefficient and the maximum lane change duration, the current vehicle's lane change priority is determined to be lower than the adjacent vehicle's lane change priority corresponding to the maximum lane change duration; if the current vehicle's lane change duration is greater than or equal to 1 multiplied by the second specified coefficient and the maximum lane change duration, the current vehicle's lane change priority is determined to be higher than the adjacent vehicle's lane change priority corresponding to the maximum lane change duration. Here, the second specified coefficient can be a lane change time priority coefficient, and its value belongs to [0,1]. For example, the second specified coefficient can be 0.6, 0.7, or other values. The second specified coefficient and the first specified coefficient can be the same coefficient or different coefficients; this embodiment does not limit this.

[0168] In this embodiment, for scenarios where the current vehicle and adjacent vehicles change lanes into the same lane, the order of lane changes can be determined based on information such as the vehicle status and lane change duration of the current vehicle and adjacent vehicles. This can improve the orderliness of lane changes and increase the efficiency of vehicle traffic.

[0169] The implementation process of the lateral coordination decision sub-process is explained below with reference to optional examples. For the lane change time priority calculation module, the moment of entering preChange (lane change preparation) is taken as the lane change start time (when this vehicle is cooperating with another vehicle in a lane change, the time spent suppressing its own lane change is still included in the lane change duration). The lane change duration of this vehicle is denoted by t. ego This indicates that the maximum lane change duration for a vehicle in the list of lane change requests received by this vehicle (an example of a third request information list) is denoted by t. max The value is 0 if the request list is empty, i.e., no other vehicle request is received. λ represents the lane change time priority coefficient (example of the first and second specified coefficients), λ∈[0,1], and in this optional example, λ takes the value of 0.6.

[0170] When this vehicle changes lanes to the left, if formula (11) is satisfied, then this vehicle is considered to have a lower time priority than the lane change time t. max When the vehicle requests a lane change, this vehicle cancels its lane change and cooperates with the other vehicle in changing lanes. When this vehicle changes lanes to the right, if formula (12) is satisfied, then this vehicle is considered to have a lower time priority than the lane change time t. max For the corresponding lane change request vehicle, this vehicle also cancels its lane change to cooperate with the other vehicle in making a lane change. Formulas (11) and (12) are as follows:

[0171] t max >(1+λ)tego (11)

[0172] t ego <(1+λ)t max (12)

[0173] Combination Figure 11 The implementation process of horizontal coordination decision-making sub-processes includes the following steps:

[0174] Step S1: Check if the request list (list3) contains emergency vehicles that are currently responding to calls. If yes, proceed to step S2. If not, proceed to step S3.

[0175] Step S2: This vehicle cancels the lane change and directly enters the cooperation state, then proceeds to step S17.

[0176] Step S3: Determine whether the current lane-changing direction of this vehicle is to the left. If yes, proceed to step S4; otherwise, proceed to step S9.

[0177] Step S4: Determine whether the current lane change status of this vehicle is the pre-change preparation status. If yes, proceed to step S5; otherwise, proceed to step S8.

[0178] Step S5: Are all vehicles in the request list in the preChange state? If yes, proceed to step S6. If not, it means that there are vehicles changing lanes (in the changing state), and proceed to step S13.

[0179] Step S6: Determine whether the lane change priority of this vehicle is high according to formula (11). If yes, proceed to step S7. If not, proceed to step S13.

[0180] In step S7, the vehicle continues to maintain the preChange state and simultaneously sends a request for assistance in changing lanes to the requesting vehicle, then proceeds to step S17.

[0181] Step S8: The vehicle is currently changing lanes to the left. Maintain the current state and send a request for assistance to the requesting vehicle to change lanes. Proceed to step S17.

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

[0183] Step S10: Determine whether the current lane change status of this vehicle is the pre-change preparation status. If yes, proceed to step S11; otherwise, proceed to step S14.

[0184] Step S11: Are all vehicles in the request list in the preChange state? If yes, proceed to step S12; otherwise, proceed to step S13.

[0185] Step S12: Determine whether the lane change priority of this vehicle is high according to formula (12). If yes, proceed to step S7; otherwise, proceed to step S13.

[0186] Step S13: This vehicle temporarily cancels the lane change and sends a message to the requesting vehicle to cooperate with the lane change. Then proceed to step S17.

[0187] Step S14: The vehicle is currently changing lanes to the right. Determine if the request list contains vehicles that are changing lanes. If so, proceed to step S16; otherwise, proceed to step S15.

[0188] Step S15: The vehicle continues to maintain the lane-changing state and sends information to other vehicles that have requested assistance in changing lanes. Then proceed to step S17.

[0189] Step S16: This vehicle temporarily cancels the lane change and switches to the preChange state, while sending a command to the requesting vehicle to cooperate with the lane change.

[0190] Step S17, process ends.

[0191] This optional example demonstrates how different methods can be used to control the lane-changing process of this vehicle when it changes lanes to the left and right, based on the vehicle status of this vehicle, the vehicle status of the requesting vehicle, the lane-changing duration of this vehicle, and the lane-changing duration of the requesting vehicle. This can improve the rationality and convenience of vehicle lane-changing control.

[0192] In an exemplary embodiment, for longitudinal coordination decision-making, the current vehicle may receive a longitudinal lane change request sent by an adjacent vehicle. In order to facilitate cooperation with the adjacent vehicle in lane changing, the current vehicle may save the request information of the received longitudinal lane change request to 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, for requesting the current vehicle to cooperate in changing lanes.

[0193] As an optional implementation, the method further 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 cooperate with the vehicle of the specified type in accordance with the cooperation method indicated by the longitudinal lane change request of the vehicle of the specified type, and sending cooperation lane change feedback information to the vehicle of the specified type.

[0194] If the group of adjacent vehicles indicated by the request information in the fourth request information list includes a vehicle of a specified type, which is a vehicle with the highest right-of-way, such as an emergency vehicle responding to a call, then the vehicle directly enters the cooperation state, controls the current vehicle to cooperate with the specified type of vehicle in accordance with the cooperation method indicated by the longitudinal lane change request of the specified type of vehicle, and sends cooperation lane change feedback information to the specified type of vehicle.

[0195] As another optional implementation, the method further includes: when the number of vehicles in a group of adjacent vehicles whose corresponding longitudinal lane change request indicates an acceleration mode is greater than or equal to the number of vehicles whose corresponding longitudinal lane change request indicates a deceleration mode, controlling the current vehicle to accelerate and sending lane change feedback information to the adjacent vehicles in the group whose corresponding longitudinal lane change request indicates an acceleration mode.

[0196] Here, a group of adjacent vehicles may have adjacent vehicles whose corresponding longitudinal lane change request indicates the coordination method of accelerating, or adjacent vehicles whose corresponding longitudinal lane change request indicates the coordination method of decelerating. In order to determine their coordination method of lane change, the number of adjacent vehicles whose corresponding longitudinal lane change request indicates the coordination method of accelerating (i.e., the first number) and the number of adjacent vehicles whose corresponding longitudinal lane change request indicates the coordination method of decelerating (i.e., the second number) can be determined. If the first number is greater than or equal to the second number, the current vehicle is controlled to accelerate, and coordination feedback information is sent to the adjacent vehicles whose corresponding longitudinal lane change request indicates the coordination method of accelerating.

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

[0198] To ensure its own traffic efficiency, when the first number is less than the second number, it can be determined whether the deceleration coordination condition and the deceleration coordination freeze time condition are met. If both the deceleration coordination condition and the deceleration coordination freeze time condition are met, the current vehicle is controlled to decelerate, and coordination lane change feedback information is sent to the adjacent vehicle in the group of adjacent vehicles whose coordination mode indicated by the longitudinal lane change request is deceleration. If at least one of the deceleration coordination condition and the deceleration coordination freeze time condition is not met, the current vehicle is controlled to maintain its current driving state.

[0199] Here, the deceleration coordination condition is that the difference between the current vehicle's speed and the speed of the adjacent vehicle requesting deceleration, divided by the current vehicle's speed, is less than a third specified coefficient. This third specified coefficient is a speed reduction coefficient used to describe the magnitude of the current vehicle's speed reduction. Meeting the deceleration coordination condition indicates that the current vehicle's speed reduction is not significant. The deceleration coordination freeze time condition is that the time difference between the current moment and the moment the current vehicle last triggered coordinated deceleration is greater than or equal to a specified time threshold. Meeting the deceleration coordination freeze time condition indicates that the time since the last coordinated deceleration is relatively long.

[0200] This embodiment determines whether a vehicle should cooperate in accelerating or decelerating based on information such as the type of vehicle sending the longitudinal lane change request to the current vehicle, the number of adjacent vehicles requesting the current vehicle to accelerate, the number of adjacent vehicles requesting the current vehicle to decelerate, the magnitude of the current vehicle's speed reduction, and the interval between the deceleration. This can improve the rationality of coordinated lane changes while ensuring traffic efficiency.

[0201] The implementation process of the longitudinal coordination decision sub-process is explained below with reference to optional examples. To determine whether the deceleration coordination condition and the deceleration coordination freeze time condition are met, let the vehicle speed be V. ego Please specify the car's speed as V. q If formula (13) is satisfied, then the deceleration coordination condition is met. The purpose of setting a freeze time limit for deceleration coordination is to prevent the vehicle from frequently decelerating to yield to other vehicles, thereby reducing its own traffic efficiency. Let the last time the deceleration was triggered be T0, and the time when the deceleration was triggered again be T1. If formula (14) is satisfied, then the deceleration coordination freeze time condition is considered to be met, and the vehicle can request deceleration coordination to proceed. Formulas (13) and (14) are as follows:

[0202]

[0203] T1-T0≥T freeze (14)

[0204] Where, δ ΔV T represents the speed reduction factor. freeze This indicates the freeze time for deceleration coordination; in this optional example, it can be 0.3 or 1 minute respectively.

[0205] Combination Figure 12 The implementation process of vertically coordinated decision-making sub-processes includes the following steps:

[0206] Step S1, parameter initialization, i is the number of times to traverse the request list, accCount and decCount are used to count the number of vehicles receiving acceleration and deceleration cooperation requests, respectively.

[0207] Step S2: Iterate through the i-th request in the request list (list3);

[0208] Step S3: Determine whether the requesting vehicle in the i-th request message is an emergency vehicle that is responding to an emergency call based on the vehicle type. If it is, directly enter the cooperation state and accelerate or decelerate to give way according to the requested driving behavior while ensuring the safe driving of the vehicle itself. Then proceed to step S15. If not, proceed to step S4.

[0209] Step S4: Determine whether the desired behavior of the i-th request is acceleration. If yes, proceed to step S5; otherwise, proceed to step S6.

[0210] Step S5: Increment the accCount value by 1, then proceed to step S7.

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

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

[0213] Step S8: Determine if 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, traverse the next request message in the request list and jump to step S2.

[0214] Step S9: Determine whether accCount is greater than or equal to decCount. If yes, proceed to step S10. If not, proceed to step S12.

[0215] Step S10: Determine whether the acceleration conditions are met. If the vehicle speed meets the road speed limit and does not collide with the vehicle in front, the acceleration strategy is executed to respond to the request of other vehicles. If acceleration is possible, proceed to step S11; otherwise, proceed to step S15.

[0216] Step S11: Accelerate driving, reply with response and cooperation information to the vehicle that requested acceleration, and proceed to step S15.

[0217] Step S12: Determine whether the deceleration driving condition is met according to formula (13). If it is met, proceed to step S13. If it is not met, proceed to step S15.

[0218] Step S13: Record the current time and determine whether the deceleration and freeze time limit is met according to formula (14). If it is met, execute step S14; otherwise, jump to execute step S15.

[0219] Step S14: Execute the deceleration coordination strategy, send response coordination information to the vehicle requesting deceleration, and record the current time;

[0220] Step S15, process ends.

[0221] Here, the timing of lane-change requests and coordination between different vehicles can be configured as needed. Figure 3 Using vehicles A, B, and C as an example, the interaction sequence of lane change requests and coordination processes is explained. Assume that vehicle B has a higher lane change priority than vehicle C. Figure 13 As shown, the interactive process of mutual cooperation is mainly divided into the risk prediction stage before lane change, the lane change request sending stage, the response and cooperation decision stage, the response sending and receiving stage, the cooperation target vehicle lane change stage, and the stage where the vehicle continues to drive according to the original plan after cooperation.

[0222] This optional example allows for decision-making on longitudinal lane changes based on information such as the vehicle type of the requesting vehicle, the number of vehicles requesting the vehicle to accelerate, and the number of vehicles requesting the vehicle to decelerate, thereby improving the rationality and convenience of vehicle lane change control.

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

[0224] According to another aspect of the embodiments of this application, a vehicle lane change control device is also provided. This device is used to implement the vehicle lane change control method provided in the above embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

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

[0226] The first execution unit 1402 is configured to repeatedly perform the following processing operations when the current vehicle is about to change lanes to an adjacent target lane, until the allowed lane-change condition is met a specified number of times, wherein the allowed lane-change condition is that there is no vehicle posing a collision risk to the current vehicle: determining whether there is a vehicle posing a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle posing a collision risk to the current vehicle in an adjacent lane, wherein the adjacent lane is a lane separated from the current vehicle's lane by the target lane; if there is a vehicle posing a collision risk to the current vehicle in at least one of the target lane and the adjacent lane, sending a lane-change cooperation request to the vehicle posing a collision risk to cooperate with the current vehicle in changing lanes to the target lane. The first execution unit 1402 is configured to execute step S202.

[0227] Control unit 1404 is used to control the current vehicle to change lanes to the target lane after a specified number of times the lane-changing conditions have been met. Control unit 1404 can be used to execute step S204.

[0228] The embodiments provided in this application, when a vehicle is about to change lanes to an adjacent target lane, repeatedly perform the following processing operations until the allowed lane change conditions are met a specified number of times. The allowed lane change condition is that there is no vehicle posing a collision risk to the current vehicle: determining whether there is a vehicle posing a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle posing a collision risk to the current vehicle in an adjacent lane, wherein the adjacent lane is a lane separated from the current vehicle's lane by the target lane; if there is a vehicle posing a collision risk to the current vehicle in at least one of the target lane and the adjacent lane, send a lane change cooperation request to the vehicle posing a collision risk to cooperate with the current vehicle in changing lanes to the target lane; when the allowed lane change conditions are met a specified number of times, control the current vehicle to change lanes to the target lane. This solves the problem of low vehicle traffic efficiency caused by easy vehicle collisions in related technologies' lane change control methods, reduces the probability of vehicle collisions, and improves vehicle traffic efficiency.

[0229] In an exemplary embodiment, the first execution unit includes: a first execution module, configured to: determine that there is no vehicle in the target lane that poses a collision risk with the current vehicle when there are no vehicles within a first distance range of the target lane, wherein the first distance range is a distance range in the longitudinal direction including the location of the current vehicle; and determine that there is a collision risk with the current vehicle when there is a first adjacent vehicle within the first distance range of the target lane, if 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; and determine that there is a collision risk with 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 between the vehicle areas in the upward direction, the distance between the rear position of the current vehicle and the front position of the vehicle preceding the first adjacent vehicle in the longitudinal direction is determined to obtain the first vehicle distance. If the result of dividing the first vehicle distance by the speed of the current vehicle and the speed of the vehicle following the first adjacent vehicle is less than or equal to the first time threshold, it is determined that there is a risk of collision between the first adjacent vehicle and the current vehicle in the target lane. If the result of dividing the first vehicle distance by the speed of the current vehicle and the speed of the vehicle following the first adjacent vehicle is greater than the first time threshold, it is determined that there is no vehicle in the target lane that poses a risk of collision with the current vehicle.

[0230] In an exemplary embodiment, the first execution unit includes: a second execution module, configured to: determine that there is no vehicle in the adjacent lane that poses a collision risk to the current vehicle when there are no vehicles within a second distance range between adjacent lanes, wherein the second distance range is a distance range in the longitudinal direction including the location of the current vehicle; determine that there is no vehicle in the adjacent lane that poses a collision risk to the current vehicle when there are adjacent vehicles within the second distance range between adjacent lanes, and when none of the adjacent vehicles within the second distance range between adjacent lanes have an intention to change lanes to the target lane; determine that the first adjacent vehicle in the adjacent lane poses a collision risk to the current vehicle when there is a first adjacent vehicle in the adjacent lane with an intention to change lanes to the target lane within the second distance range between adjacent lanes, and 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 a second vehicle in the adjacent lane with the intention to change lanes to the target lane within the second distance range of the adjacent lanes, 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 front position of the second vehicle in the longitudinal direction is determined to be the second vehicle distance. If the result of dividing the second vehicle distance by the speed of the current vehicle and the second vehicle in the adjacent lane is less than or equal to the second time threshold, it is determined that there is a risk of collision between the second vehicle in the adjacent lane and the current vehicle. If the result of dividing the second vehicle distance by the speed of the current vehicle and the second vehicle in the adjacent lane is greater than the second time threshold, it is determined that there is no vehicle in the adjacent lane that poses a risk of collision with the current vehicle.

[0231] In one exemplary embodiment, the first execution unit includes: a first sending module, configured 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 in the target lane, wherein the lane change cooperation request includes a target longitudinal cooperation request, which requests the second adjacent vehicle to cooperate with the current vehicle in changing lanes to the target lane by adjusting its speed; and a second sending module, configured to send a target lateral cooperation request to the third adjacent vehicle when the vehicle at risk of collision with the current vehicle includes a third adjacent vehicle in a separate lane, wherein the lane change cooperation request includes a target lateral cooperation request, which requests the third adjacent vehicle to cooperate with the current vehicle in changing lanes to the target lane by temporarily cancelling its lane change.

[0232] In one exemplary embodiment, the request information for a lane change coordination request sent to a vehicle in the target lane that poses a collision risk with the current vehicle is stored in a first request information list, and the request information for a lane change coordination request sent to a vehicle in the next lane that poses a collision risk with the current vehicle is stored in a second request information list. The aforementioned device further includes: a second execution unit and a third execution unit, wherein the second execution unit is configured to, after determining whether there is a vehicle in the target lane that poses a collision risk to the current vehicle, clear the first request information list if no such vehicle is found in the target lane; and after determining whether there is a vehicle in the adjacent lane that poses a collision risk to the current vehicle, clear the second request information list if no such vehicle is found in the adjacent lane. The third execution unit is configured to, after sending a lane change cooperation request to a vehicle that poses a collision risk to the current vehicle, clear the request information corresponding to the third adjacent vehicle in the first request information list upon receiving a lane change cooperation feedback message from the third adjacent vehicle in the target lane that poses a collision risk to the current vehicle in response to the lane change cooperation request; and clear the request information corresponding to the fourth adjacent vehicle in the second request information list upon receiving a lane change cooperation feedback message from the fourth adjacent vehicle in the adjacent lane that poses a collision risk to the current vehicle in response to the lane change cooperation request. The determination of whether the lane change permission condition is met is based on whether both the first request information list and the second request information list are empty.

[0233] In one exemplary embodiment, the above apparatus further includes: a broadcasting unit, configured to broadcast the current vehicle's status information during the process of controlling the current vehicle to change lanes to the target lane, wherein the current vehicle's status information is used to indicate that the current vehicle is in a lane-changing state; and a judging unit, configured 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, the request information of the lateral lane change request received by the current vehicle is saved in a third request information list. The lateral lane change request received by the current vehicle is a request sent by a vehicle in a lane that is about to change lanes to the target lane or is changing lanes to the target lane, for requesting the current vehicle to cooperate in changing lanes. The aforementioned device further includes: a fourth execution unit, configured to, when the request information in the third request information list indicates that a group of spaced vehicles includes a vehicle of a specified type, control the current vehicle to temporarily cancel its lane change and send a lane change cooperation feedback message to the specified type of vehicle, wherein the specified type of vehicle is the vehicle with the highest right-of-way; when the current vehicle is changing lanes to the left and is in a lane change state, control the current vehicle to maintain its lane change state and send a lane change assistance request to a group of spaced vehicles to request the group of spaced vehicles to cooperate with the current vehicle's lane change; when the current vehicle is changing lanes to the left, is in a lane change preparation state, and there is a fifth spaced vehicle in a lane change state in the group of spaced vehicles, control the current vehicle to temporarily cancel its lane change and send a lane change cooperation feedback message to the fifth spaced vehicle; when the current vehicle is changing lanes to the left, and both the current vehicle and the group of spaced vehicles are in a lane change preparation state... The system determines the current lane change duration and the maximum lane change duration among a group of spaced-apart vehicles. The current lane change duration is the time from when the current vehicle enters the lane change preparation state to the current time, and the lane change duration of each spaced-apart vehicle in the group is the time from when each spaced-apart vehicle enters the lane change preparation state to the current time. If the maximum lane change duration is greater than 1 multiplied by a first specified coefficient and the current vehicle's lane change duration, the system temporarily cancels the lane change and sends a lane change cooperation feedback message to the spaced-apart vehicles corresponding to the maximum lane change duration. If the maximum lane change duration is less than or equal to 1 multiplied by the first specified coefficient and the current vehicle's lane change duration, the system maintains the lane change preparation state and sends an assist lane change request to the group of spaced-apart vehicles to request their cooperation in changing lanes.

[0235] In one exemplary embodiment, the apparatus further includes: a fifth execution unit, configured to: temporarily cancel the lane change of the current vehicle and send a lane change cooperation feedback message to the sixth vehicle when the current vehicle is changing lanes to the right and a sixth vehicle in a lane change state is in a lane change state among a group of adjacent vehicles; maintain the lane change state of the current vehicle and send a lane change assistance request to a group of adjacent vehicles to request the group of adjacent vehicles to cooperate with the current vehicle in changing lanes when the current vehicle is changing lanes to the right, the current vehicle is in a lane change state, and all vehicles in a group of adjacent vehicles are in a lane change preparation state; and maintain the lane change state of the current vehicle and send a lane change assistance request to a group of adjacent vehicles to request the group of adjacent vehicles to cooperate with the current vehicle in changing lanes when the current vehicle is changing lanes to the right and both the current vehicle and a group of adjacent vehicles are in a lane change preparation state. In the given state, determine the current vehicle's lane change duration and the maximum lane change duration among a group of adjacent vehicles; if the current vehicle's lane change duration is less than 1 multiplied by the sum of a second specified coefficient and the maximum lane change duration, control the current vehicle to temporarily cancel the lane change and send a lane change cooperation feedback message to the adjacent vehicles corresponding to the maximum lane change duration; if the current vehicle's lane change duration is greater than or equal to 1 multiplied by the sum of a second specified coefficient and the maximum lane change duration, control the current vehicle to maintain the lane change preparation state and send an assist lane change request to a group of adjacent vehicles to request the group of adjacent vehicles to cooperate with the current vehicle's lane change.

[0236] In an exemplary embodiment, the request information of the longitudinal lane change request received by the current vehicle is stored in 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, for requesting the current vehicle to cooperate in changing lanes. The above-mentioned device further includes: a sixth execution unit, configured to, when the group of adjacent vehicles indicated by the request information in the fourth request information list includes a vehicle of a specified type, control the current vehicle to cooperate with the vehicle of the specified type in changing lanes according to the cooperation method indicated by the longitudinal lane change request of the specified type of vehicle, and send cooperation lane change feedback information to the vehicle of the specified type of vehicle, wherein the vehicle of the specified type is a vehicle with the highest right-of-way; when, in a group of adjacent vehicles, the number of vehicles whose cooperation method indicated by the corresponding longitudinal lane change request is acceleration is greater than or equal to the number of vehicles whose cooperation method indicated by the corresponding longitudinal lane change request is deceleration, control the current vehicle to accelerate, and send cooperation lane change feedback information to the adjacent vehicles in the group of adjacent vehicles whose cooperation method indicated by the corresponding longitudinal lane change request is acceleration; when, in a group of adjacent vehicles, the corresponding longitudinal lane change... If the number of lane change requests indicating acceleration is less than the number of corresponding lane change requests indicating deceleration, and both the deceleration coordination condition and the deceleration coordination freeze time condition are met, the current vehicle is controlled to decelerate, and a lane change coordination feedback message is sent to the adjacent vehicles in a group of adjacent vehicles whose corresponding lane change requests indicate deceleration. The deceleration coordination condition is that the difference between the current vehicle's speed and the speed of the adjacent vehicle requesting deceleration, divided by the current vehicle's speed, is less than a third specified coefficient. The deceleration coordination freeze time condition is that the time difference between the current moment and the moment the current vehicle last triggered coordinated deceleration is greater than or equal to a specified time threshold. If at least one of the deceleration coordination condition and the deceleration coordination freeze time condition is not met, the current vehicle is controlled to maintain its current driving state.

[0237] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are 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 this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0239] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0240] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include 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] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0242] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 1509, and / or installed from removable medium 1511. When the computer program is executed by central processing unit 1501, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0243] Figure 15 A schematic block diagram of a computer system architecture for implementing embodiments of the present application is shown. Figure 15 As shown, the computer system 1500 includes a CPU (Central Processing Unit) 1501, which can perform various appropriate actions and processes according to a program stored in ROM 1502 or a program loaded from storage section 1508 into RAM 1503. Random access memory 1503 also stores various programs and data required for system operation. The CPU 1501, ROM 1502, and RAM 1503 are interconnected via bus 1504. An I / O (Input / Output) interface 1505 is also connected to bus 1504.

[0244] The following components are connected to I / O interface 1505: input section 1506 including keyboard, mouse, etc.; output section 1507 including CRT (Cathode Ray Tube), LCD (Liquid Crystal Display), etc., and speakers, etc.; storage section 1508 including hard disk, etc.; and communication section 1509 including network interface card, modem, etc. Communication section 1509 performs communication processing via a network such as the Internet. Drive 1510 is also connected to I / O interface 1505 as needed. Removable media 1511, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1510 as needed so that computer programs read from them can be installed into storage section 1508 as needed.

[0245] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1509, and / or installed from removable medium 1511. When the computer program is executed by central processing unit 1501, it performs various functions defined in the system of this application.

[0246] It should be noted that, Figure 15 The computer system 1500 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0247] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0248] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle lane change control method, characterized in that, include: When the current vehicle is about to change lanes to an adjacent target lane, the following processing operation is repeated until the number of times the lane change condition is met reaches a specified number. The lane change condition is that there is no vehicle that poses a collision risk to the current vehicle: determining whether there is a vehicle that poses a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle that poses a collision risk to the current vehicle in the adjacent lane. The adjacent lane is the lane that is separated from the target lane by the lane where the current vehicle is located. If there is a vehicle that poses a collision risk with the current vehicle in at least one of the target lane and the adjacent lanes, a lane change cooperation request is sent to the vehicle that poses a collision risk with the current vehicle to request the vehicle that poses a collision risk with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane. If the permitted lane-changing conditions are met a specified number of times, the current vehicle is controlled to change lanes to the target lane. The request information for the lane change cooperation request sent to a vehicle in the target lane that is at risk of colliding with the current vehicle is stored in a first request information list, and the request information for the lane change cooperation request sent to a vehicle in the adjacent lane that is at risk of colliding with the current vehicle is stored in a second request information list. After sending a lane change cooperation request to a vehicle at risk of collision with the current vehicle, the method further includes: upon receiving a lane change cooperation feedback message returned by a 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 from the first request information list; upon receiving a lane change cooperation feedback message returned by a fourth vehicle in the adjacent 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 vehicle in the second request information list; whether the lane change permission condition is met is determined based on whether both the first request information list and the second request information list are empty.

2. The method according to claim 1, characterized in that, The step of determining whether there are vehicles in the target lane that pose a collision risk to the current vehicle includes: If there are no vehicles within a first distance range of the target lane, it is determined that there are no vehicles in the target lane that pose a collision risk to the current vehicle, wherein the first distance range is a distance range in the longitudinal direction that includes the location of the current vehicle; If a first adjacent vehicle exists within the first distance range of the target lane, and 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, it is determined that the first adjacent vehicle in the target lane and the current vehicle are at risk of collision. When 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, the distance between the rear position of the first vehicle and the front position of the second vehicle in the longitudinal direction is determined to obtain the first vehicle distance. If the result of dividing the distance of the first vehicle by the speed of the second vehicle among the current vehicle and the first adjacent vehicle is less than or equal to a first time threshold, it is determined that there is a risk of collision between the first adjacent vehicle and the current vehicle in the target lane. If the result of dividing the distance of the first vehicle by the speed of the second vehicle among 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 poses a collision risk to the current vehicle.

3. The method according to claim 1, characterized in that, The determination of whether there are vehicles in adjacent lanes that pose a collision risk to the current vehicle includes: If there are no vehicles within the second distance range of the adjacent lanes, it is determined that there are no vehicles in the adjacent lanes that pose a collision risk to the current vehicle, wherein the second distance range is a distance range in the longitudinal direction that includes the location of the current vehicle; If there are vehicles separated by a distance within the second distance range of the separated lanes, and none of the vehicles separated by a distance within the second distance range of the separated lanes have any intention to change lanes to the target lane, it is determined that there are no vehicles in the separated lanes that pose a collision risk to the current vehicle. When there is a first vehicle with the intention to change lanes 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 intersects with the vehicle area where the first vehicle is located in the longitudinal direction, it is determined that there is a risk of collision between the first vehicle and the current vehicle in the separated lanes. When there is a second vehicle with the intention to change lanes 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 does not intersect with the vehicle area where the second separated vehicle is located in the longitudinal direction, the distance between the rear position of the first vehicle and the front position of the second vehicle in the longitudinal direction is determined to obtain the second vehicle distance; If the result of dividing the distance between the second vehicle and the speed of the second vehicle between the current vehicle and the second vehicle in the next lane is less than or equal to the second time threshold, it is determined that there is a risk of collision between the second vehicle in the next lane and the current vehicle. If the result of dividing the distance to the second vehicle by the speed of the second vehicle between the current vehicle and the second adjacent vehicle is greater than the second time threshold, it is determined that there is no vehicle in the adjacent lane that poses a collision risk to the current vehicle.

4. The method according to claim 1, characterized in that, Sending a lane change cooperation request to vehicles that pose a collision risk with the current vehicle includes: When a vehicle that poses a collision risk with the current vehicle includes a second adjacent vehicle in the target lane, a target longitudinal cooperation request is sent to the second adjacent vehicle. The lane change cooperation request includes the target longitudinal cooperation request, which is used to request the second adjacent vehicle to cooperate with the current vehicle in changing lanes to the target lane by adjusting its speed. When a vehicle that poses a collision risk with the current vehicle includes a third vehicle in the adjacent lane, a target lateral cooperation request is sent to the third vehicle. The lane change cooperation request includes the target lateral cooperation request, which requests the third vehicle to cooperate with the current vehicle to change lanes to the target lane by temporarily canceling its lane change.

5. The method according to claim 1, characterized in that, After determining whether there is a vehicle in the target lane that poses a collision risk to the current vehicle, the method further includes: if there is no vehicle in the target lane that poses a collision risk to the current vehicle, clearing the first request information list; After determining whether there is a vehicle in the adjacent lane that poses a collision risk to the current vehicle, the method further includes: if there is no vehicle in the adjacent lane that poses a collision risk to the current vehicle, clearing the second request information list.

6. The method according to claim 1, characterized in that, During the process of controlling the current vehicle to change lanes to the target lane, the method further includes: The current vehicle broadcasts its status information, which indicates that the current vehicle is in a lane-changing state. Based on the relationship between the center position of the current vehicle and the lane range of the target lane, it is continuously determined whether the current vehicle has completed the lane change.

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. The lateral lane change request received by the current vehicle is a request sent by the vehicles in the adjacent lanes that are about to change lanes to the target lane or are changing lanes to the target lane, for requesting the current vehicle to cooperate in changing lanes. The method further includes: If a vehicle of a specified type is included in a group of vehicles spaced apart by the request information in the third request information list, the current vehicle is controlled to temporarily cancel lane change and a lane change cooperation feedback information is sent to the vehicle of the specified type, wherein the vehicle of the specified type is the vehicle with the highest right-of-way. When the current vehicle is changing lanes to the left and is in a lane-changing state, control the current vehicle to maintain the lane-changing state and send a lane-changing assistance request to the group of spaced vehicles to request the group of spaced vehicles to cooperate with the current vehicle in changing lanes. If the current vehicle is changing lanes to the left, the current vehicle is in a lane change preparation state, and there is a fifth vehicle in the group of adjacent vehicles that is in a lane change state, control the current vehicle to temporarily cancel the lane change and send a lane change cooperation feedback information to the fifth vehicle. When the current vehicle is changing lanes to the left, and both the current vehicle and the group of adjacent vehicles are 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 adjacent vehicles is determined. The lane change duration of the current vehicle is the duration from the moment the current vehicle enters the lane change preparation state to the current moment, and the lane change duration of each adjacent vehicle in the group is the duration from the moment each adjacent vehicle enters the lane change preparation state to the current moment. If the maximum lane change duration is greater than 1 multiplied by a first specified coefficient and the current vehicle's lane change duration, the current vehicle is controlled to temporarily cancel the lane change and sends a lane change cooperation feedback message to the adjacent vehicle corresponding to the maximum lane change duration. If the maximum lane change duration is less than or equal to 1 multiplied by the first specified coefficient and the current vehicle's lane change duration, the current vehicle is controlled to maintain the lane change preparation state and sends an assist lane change request to the group of adjacent vehicles to request the group of adjacent vehicles to cooperate with the current vehicle's lane change.

8. The method according to claim 7, characterized in that, The method further includes: If the current vehicle is changing lanes to the right, and there is a sixth vehicle in the group of vehicles that is changing lanes, control the current vehicle to temporarily cancel the lane change and send a lane change cooperation feedback message 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 the vehicles in the group of adjacent vehicles are in a lane-changing preparation state, the current vehicle is controlled to maintain the lane-changing state, and a lane-changing assistance request is sent to the group of adjacent vehicles to request the group of adjacent vehicles to cooperate with the current vehicle in changing lanes. When the current vehicle is changing lanes to the right, and both the current vehicle and the group of adjacent vehicles are 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 adjacent vehicles is determined; if the lane change duration of the current vehicle is less than 1 multiplied by the sum of the second specified coefficient and the maximum lane change duration, the current vehicle is controlled to temporarily cancel the lane change and send a lane change cooperation feedback message to the adjacent vehicles corresponding to the maximum lane change duration; if the lane change duration of the current vehicle is greater than or equal to 1 multiplied by the sum of the second specified coefficient and the maximum lane change duration, the current vehicle is controlled to maintain the lane change preparation state and send an assist lane change request to the group of adjacent vehicles to request the group of adjacent 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 the 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, for requesting the current vehicle to cooperate in changing lanes. The method further includes: If a vehicle of a specified type is included in a group of adjacent vehicles indicated by the request information in the fourth request information list, the current vehicle is controlled to cooperate with the vehicle of the specified type in the cooperation manner indicated by the longitudinal lane change request of the vehicle of the specified type, and cooperation lane change feedback information is sent to the vehicle of the specified type, wherein the vehicle of the specified type is the vehicle with the highest right-of-way. If, in the group of adjacent vehicles, the number of vehicles whose corresponding longitudinal lane change request indicates an acceleration mode is greater than or equal to the number of vehicles whose corresponding longitudinal lane change request indicates a deceleration mode, the current vehicle is controlled to accelerate, and a lane change cooperation feedback message is sent to the adjacent vehicles in the group whose corresponding longitudinal lane change request indicates an acceleration mode. In the group of adjacent vehicles, if the number of longitudinal lane change requests indicating acceleration is less than the number indicating deceleration, and both the deceleration coordination condition and the deceleration coordination freeze time condition are met, the current vehicle is controlled to decelerate, and lane change coordination feedback information is sent to the adjacent vehicles in the group whose longitudinal lane change requests indicate deceleration. The deceleration coordination condition is that the difference between the current vehicle's speed and the speed of the adjacent vehicle requesting deceleration, divided by the current vehicle's speed, is less than a third specified coefficient. The deceleration coordination freeze time condition is that the time difference between the current moment and the moment the current vehicle last triggered coordinated deceleration is greater than or equal to a specified time threshold. If at least one of the deceleration coordination condition and the deceleration coordination freeze time condition is not met, the current vehicle is controlled to maintain its current driving state.

10. A vehicle lane change control device, characterized in that, include: The first execution unit is configured to repeatedly perform the following processing operations when the current vehicle is about to change lanes to an adjacent target lane, until the number of times the lane change condition is met reaches a specified number, wherein the lane change condition is that there is no vehicle that poses a collision risk to the current vehicle: determining whether there is a vehicle that poses a collision risk to the current vehicle in the target lane, and determining whether there is a vehicle that poses a collision risk to the current vehicle in an adjacent lane, wherein the adjacent lane is a lane that is separated from the lane where the current vehicle is located by the target lane; if there is a vehicle that poses a collision risk to the current vehicle in at least one of the target lane and the adjacent lane, sending a lane change cooperation request to the vehicle that poses a collision risk to the current vehicle to request the vehicle that poses a collision risk to cooperate with the current vehicle to change lanes to the target lane; The control unit is configured to control the current vehicle to change lanes to the target lane when the number of times the lane change conditions are met reaches the specified number; The request information for the lane change cooperation request sent to a vehicle in the target lane that poses a collision risk with the current vehicle is stored in a first request information list, and the request information for the lane change cooperation request sent to a vehicle in the adjacent lane that poses a collision risk with the current vehicle is stored in a second request information list; the device further includes: a third execution unit, configured to, after sending the lane change cooperation request to a vehicle that poses a collision risk with the current vehicle, upon receiving a lane change cooperation feedback information returned by a third adjacent vehicle in the target lane that poses a collision risk with the current vehicle in response to the lane change cooperation request, clear the request information corresponding to the third adjacent vehicle in the first request information list; upon receiving a lane change cooperation feedback information returned by a fourth adjacent vehicle in the adjacent lane that poses a collision risk with the current vehicle in response to the lane change cooperation request, clear the request information corresponding to the fourth adjacent vehicle in the second request information list; wherein, whether the lane change permission condition is met is determined based on whether both the first request information list and the second request information list are empty.

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

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

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, it implements the steps of the method according to any one of claims 1 to 9.

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