Piloting-assisted automatic lane changing control method and device and electronic equipment

Abstract

The invention relates to a pilot-assisted automatic lane changing control method and device and electronic equipment, and belongs to the technical field of intelligent driving assistance. The control method comprises the following steps: obtaining a minimum lane changing acceleration according to own vehicle driving data, target vehicle driving data and a vehicle distance; according to the driving data of the vehicle, the driving data of the target vehicle and the vehicle distance, the comfortable lane changing acceleration is obtained through the lane changing acceleration model, the vehicle is controlled to restrain lane changing or execute lane changing operation at the minimum lane changing acceleration according to the minimum lane changing acceleration and the comfortable lane changing acceleration, and the discomfort of a driver and passengers is reduced while the safety of automatic lane changing is guaranteed. And the riding experience of passengers and drivers is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving assistance technology, and in particular to a navigation-assisted automatic lane change control method, device and electronic equipment. Background Art

[0002] Nowadays, as intelligent driving becomes more and more popular in the industry, many OEMs or intelligent driving solution manufacturers are working on L2+ intelligent driving navigation assistance functions. In addition to the most basic lane keeping and adaptive cruise functions, the more important function is the automatic lane changing function, which includes lever lane changing, navigation lane changing, overtaking lane changing, etc.

[0003] Automatic lane changing is an action with a very high safety risk, especially when driving in urban areas, where it is necessary to ensure not only traffic efficiency but also driving safety. Once something goes wrong when the vehicle changes lanes, it is highly likely that the vehicle is fully responsible. Existing automatic lane changing methods generally obtain the vehicle's lane changing acceleration through vehicle distance, vehicle speed and acceleration, and then perform lane changing operations based on the vehicle's lane changing acceleration. The size of the lane changing acceleration directly affects the comfort of the driver and passengers. If one blindly pursues lane changing without considering comfort, it is easy to change lanes with excessive lane changing acceleration, resulting in a poor user experience for the driver and passengers. Summary of the invention

[0004] To this end, the present invention provides a pilot-assisted automatic lane change control method, device and electronic device to solve the problem that lane changes in the prior art do not take comfort into consideration and are prone to being performed with excessive lane change acceleration, resulting in a poor user experience for drivers and passengers.

[0005] In a first aspect, a pilot-assisted automatic lane change control method is provided, the method comprising:

[0006] Acquire the driving data of the vehicle, the driving data of the target vehicle and the distance between the vehicle and the target vehicle; the driving data at least includes the vehicle speed and acceleration; the target vehicle is the rear vehicle in the target lane;

[0007] Obtaining a minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance;

[0008] Obtaining a comfortable lane-changing acceleration through a lane-changing acceleration model according to the own-vehicle driving data, the target vehicle driving data and the vehicle distance;

[0009] The vehicle is controlled to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration.

[0010] Further, obtaining the minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance includes:

[0011] The minimum lane change acceleration is obtained according to the lane change acceleration formula, which is:

[0012]

[0013] Among them, a1 is the minimum lane change acceleration; a2 is the acceleration of the target vehicle; v1 is the speed of the own vehicle; v2 is the speed of the target vehicle; S is the distance between the own vehicle and the target vehicle.

[0014] Furthermore, before obtaining the comfortable lane change acceleration through the lane change acceleration model according to the own vehicle driving data, the target vehicle driving data and the vehicle distance, the method includes:

[0015] Obtaining the vehicle model of the vehicle;

[0016] Acquire lane change data under different road conditions according to the vehicle model; the lane change data includes the speed of the vehicle, the speed of the vehicle behind the target lane, the acceleration of the vehicle behind the target lane, the distance between the vehicle and the vehicle behind, and the lane change acceleration of the vehicle;

[0017] The lane change data set is obtained by removing corresponding data in the lane change data in which the lane change acceleration of the vehicle is greater than a preset acceleration upper limit;

[0018] Dividing the lane change data set into a training set and a test set in a preset ratio;

[0019] Create an initial path analysis model;

[0020] The lane change acceleration model is obtained by training and verifying the initial path analysis model in sequence through the training set and the test set.

[0021] Furthermore, obtaining a comfortable lane change acceleration through a lane change acceleration model according to the own vehicle driving data, the target vehicle driving data and the vehicle distance includes:

[0022] The acceleration of the target vehicle, the speed of the own vehicle, the speed of the target vehicle and the distance between the own vehicle and the target vehicle are input into the lane change acceleration model to obtain the comfortable lane change acceleration.

[0023] Furthermore, the method also includes: adding the minimum lane change acceleration and corresponding driving data obtained each time the automatic lane change control method is executed to the lane change data set, so as to continuously train and verify the lane change acceleration model.

[0024] Further, the controlling the vehicle to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration includes:

[0025] If the minimum lane change acceleration is greater than the comfortable lane change acceleration, suppressing the lane change operation of the vehicle;

[0026] If the minimum lane-changing acceleration is less than or equal to the comfortable lane-changing acceleration, the vehicle is controlled to change lanes at the minimum lane-changing acceleration.

[0027] Furthermore, after obtaining the minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance, the method further includes:

[0028] If the speed of the self-vehicle in the self-vehicle driving data is greater than or equal to the speed of the target vehicle in the target vehicle driving data, and the acceleration of the target vehicle in the target vehicle driving data is less than or equal to 0, then the self-vehicle is controlled to perform a lane change operation at the speed of the self-vehicle;

[0029] End the automatic lane change control.

[0030] In a second aspect, a navigation-assisted automatic lane change control device is provided, the device comprising:

[0031] An acquisition module is used to acquire the driving data of the vehicle, the driving data of the target vehicle and the distance between the vehicle and the target vehicle; the driving data at least includes the vehicle speed and acceleration; the target vehicle is the rear vehicle in the target lane;

[0032] A lane change acceleration module, used for obtaining a minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance;

[0033] It is also used to obtain a comfortable lane change acceleration through a lane change acceleration model according to the own vehicle driving data, the target vehicle driving data and the vehicle distance;

[0034] The lane change control module is used to control the vehicle to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration.

[0035] In a third aspect, an electronic device is provided, including:

[0036] at least one processor; and

[0037] a memory communicatively connected to the at least one processor; wherein,

[0038] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any of the above-mentioned automatic lane change control methods for pilot assistance.

[0039] The present invention adopts the above technical solution and has at least the following beneficial effects:

[0040] Provided are a pilot-assisted automatic lane-changing control method, device and electronic equipment, which obtain a minimum lane-changing acceleration based on driving data of an own vehicle, driving data of a target vehicle and vehicle distance, obtain a comfortable lane-changing acceleration through a lane-changing acceleration model based on the driving data of the own vehicle, driving data of the target vehicle and vehicle distance, and control the own vehicle to suppress lane-changing or perform lane-changing operations with the minimum lane-changing acceleration based on the minimum lane-changing acceleration and the comfortable lane-changing acceleration, thereby reducing discomfort of drivers and passengers while ensuring the safety of automatic lane-changing, and effectively improving the riding experience of drivers and passengers.

[0041] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 is a flow chart of a navigation-assisted automatic lane change control method shown in an exemplary embodiment of the present invention;

[0044] Figure 2 is a flow chart of a navigation-assisted automatic lane change control method shown in another exemplary embodiment of the present invention;

[0045] Figure 3 is a schematic block diagram of an automatic lane change control device for navigation assistance according to an exemplary embodiment of the present invention;

[0046] Figure 4 It is a schematic block diagram of an electronic device shown in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] Automatic lane changing is an action with great safety risks, especially when driving in urban areas, where it is necessary to ensure not only traffic efficiency but also driving safety. Once something goes wrong when the vehicle changes lanes, it is highly likely that the vehicle is fully responsible. Therefore, the safety of the automatic lane changing function is something that must be taken seriously. In the existing technology, lane changing does not take comfort into consideration and is prone to changing lanes with excessive acceleration, resulting in a poor user experience for drivers and passengers.

[0049] The embodiments of the present application provide a method, device and electronic device for automatic lane change control with navigation assistance, in which an intelligent driving controller detects the road condition of the target lane, collects road condition data, performs model training, and obtains an acceleration model for lane change of the vehicle; when the city navigation function is used to initiate automatic lane change, the application controls the vehicle to change lanes or suppress lane changes, thereby ensuring the comfort and safety of automatic lane change.

[0050] The method and device in this application are described below through specific embodiments.

[0051] See also Figure 1 , Figure 1 is a flowchart of an automatic lane change control method for navigation assistance according to an exemplary embodiment of the present invention, see Figure 1 , the method comprising:

[0052] Step S11, obtaining the driving data of the own vehicle, the driving data of the target vehicle and the distance between the own vehicle and the target vehicle;

[0053] Step S12, obtaining the minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance;

[0054] Step S13, obtaining a comfortable lane change acceleration through a lane change acceleration model according to the own vehicle driving data, the target vehicle driving data and the vehicle distance;

[0055] Step S14: Control the vehicle to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration.

[0056] It should be noted that the technical solution provided in this embodiment can be added to the existing intelligent driving system in the form of a mini-program in specific practice, or can be provided in the form of an independent application to provide an interface to the outside world to complete the automatic lane changing function; applicable scenarios include but are not limited to: intelligent driving assistance, navigation assistance and automatic lane changing.

[0057] Specifically, the driving data includes at least vehicle speed and acceleration; the target vehicle is the rear vehicle in the target lane; before step S12, if the vehicle speed of the self-vehicle in the driving data of the self-vehicle is greater than or equal to the vehicle speed of the target vehicle in the driving data of the target vehicle, and the acceleration of the target vehicle in the driving data of the target vehicle is less than or equal to 0, then the self-vehicle is controlled to perform a lane change operation at the vehicle speed of the self-vehicle; and this automatic lane change control ends.

[0058] It can be understood that the present embodiment provides a control method, which obtains the minimum lane change acceleration based on the driving data of the own vehicle, the driving data of the target vehicle and the vehicle distance, obtains the comfortable lane change acceleration through a lane change acceleration model based on the driving data of the own vehicle, the driving data of the target vehicle and the vehicle distance, and controls the own vehicle to suppress lane change or perform lane change operation with the minimum lane change acceleration based on the minimum lane change acceleration and the comfortable lane change acceleration, thereby reducing the discomfort of the driver and passengers while ensuring the safety of automatic lane change, and effectively improving the riding experience of the passengers.

[0059] In specific practice, step S11 "obtaining the own vehicle driving data, the target vehicle driving data and the distance between the own vehicle and the target vehicle" includes: obtaining the current speed of the own vehicle, the speed and acceleration of the target vehicle, and the distance between the two vehicles.

[0060] In specific practice, step S12 "obtaining the minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance" includes: obtaining the minimum lane change acceleration according to the lane change acceleration formula, and the lane change acceleration formula is: Among them, a1 is the minimum lane change acceleration; a2 is the acceleration of the target vehicle; v1 is the speed of the own vehicle; v2 is the speed of the target vehicle; S is the distance between the own vehicle and the target vehicle.

[0061] It should be noted that when the ego vehicle initiates a lane change, the target lane satisfies the lane change space, and the target lane has a following vehicle driving normally, the formula can be established: [v2+a2t-(v1+a1t)]·t≤SS min , where the ego vehicle speed v1, longitudinal acceleration a1, the target lane rear vehicle speed v2, longitudinal acceleration a2; the vehicle lane change time t, t = 3s; the longitudinal distance between the vehicle and the target lane rear vehicle when changing lanes is called the lane change space S, set S min =v1×1.5; after the formula transformation, the lane change acceleration formula is:

[0062] In specific practice, before step S13, the lane change acceleration model needs to be trained first, and the specific process is: obtain the vehicle model of the vehicle; obtain lane change data under different road conditions according to the vehicle model; the lane change data includes the speed of the vehicle, the speed of the vehicle behind the target lane, the acceleration of the vehicle behind the target lane, the distance between the vehicle and the vehicle behind, and the lane change acceleration of the vehicle; clear the corresponding data in the lane change data where the lane change acceleration of the vehicle is greater than the preset acceleration upper limit to obtain the lane change data set; divide the lane change data set into a training set and a test set according to a preset ratio; create an initial path analysis model; train and verify the initial path analysis model in turn through the training set and the test set to obtain the lane change acceleration model.

[0063] It should be noted that the preset acceleration upper limit can be obtained based on multiple tests and is generally set to 1m / s 2; The preset ratio is generally 70% for training set and 30% for test set; the entire training is completed and the lane change acceleration model is obtained after the verification consistency reaches 90%.

[0064] Specifically, the initial path analysis model may be a path analysis model based on the maximum likelihood method.

[0065] In specific practice, in step S13, "obtaining comfortable lane change acceleration through a lane change acceleration model based on the own vehicle driving data, the target vehicle driving data and the vehicle distance" includes: inputting the acceleration of the target vehicle, the speed of the own vehicle, the speed of the target vehicle and the vehicle distance between the own vehicle and the target vehicle into the lane change acceleration model to obtain the comfortable lane change acceleration.

[0066] In specific practice, the minimum lane change acceleration and corresponding driving data obtained each time the automatic lane change control method is executed are added to the lane change data set to continuously train and verify the lane change acceleration model.

[0067] In specific practice, in step S14, "controlling the vehicle to suppress lane changing or perform lane changing operation with minimum lane changing acceleration according to the minimum lane changing acceleration and the comfortable lane changing acceleration" includes: if the minimum lane changing acceleration is greater than the comfortable lane changing acceleration, suppressing the lane changing operation of the vehicle; if the minimum lane changing acceleration is less than or equal to the comfortable lane changing acceleration, controlling the vehicle to change lanes with the minimum lane changing acceleration.

[0068] It should be noted that the automatic lane change control can only be continued after a certain period of time has passed after the lane change operation of the vehicle is suppressed. The period of time is determined by the road conditions and is shortened when the road conditions require lane change.

[0069] In a specific embodiment, see Figure 2 , Figure 2 is a flowchart of a navigation-assisted automatic lane change control method shown in another exemplary embodiment of the present invention, see Figure 2 The method includes: when the vehicle does not use the navigation assistance function, each time the driver initiates an automatic lane change, the relevant driving data are saved and used for the lane change acceleration model training of the self-vehicle, and the relevant driving data include: the distance from the rear vehicle in the target lane, the speed of the rear vehicle in the target lane, the acceleration, the self-vehicle speed, and the acceleration of the self-vehicle when changing lanes, and the trained lane change acceleration model of the self-vehicle is deployed to the on-board intelligent driving system; when the vehicle uses the navigation assistance function, the intelligent driving controller of the on-board intelligent driving system initiates automatic lane change and obtains the road condition of the target lane, that is, obtains the self-vehicle speed v1, the speed v2 of the rear vehicle in the target lane, and the acceleration a2; if v1≥v2, and a2≤0, then change lanes directly at a steady speed of v1; if v1<v2 or a2>0; then the minimum lane change acceleration a1 is calculated by the lane change acceleration formula; v1, v2, and a2 are input into the lane change acceleration model of the self-vehicle of the on-board intelligent driving system to obtain the comfortable lane change acceleration a 舒适 ; if a1≤a舒适 , then change lanes with a1; if a1>a 舒适 , automatic lane change is suppressed.

[0070] See also Figure 3 , Figure 3 is a schematic block diagram of an automatic lane change control device for pilot assistance according to an exemplary embodiment of the present invention, see Figure 3 The automatic lane change control device 100 for pilot assistance includes:

[0071] The acquisition module 101 is used to acquire the driving data of the vehicle, the driving data of the target vehicle and the distance between the vehicle and the target vehicle; the driving data at least includes the vehicle speed and acceleration; the target vehicle is the rear vehicle in the target lane;

[0072] The lane change acceleration module 102 is used to obtain the minimum lane change acceleration according to the driving data of the own vehicle, the driving data of the target vehicle and the vehicle distance;

[0073] It is also used to obtain a comfortable lane-changing acceleration through a lane-changing acceleration model based on the own vehicle driving data, the target vehicle driving data and the vehicle distance;

[0074] The lane change control module 103 is used to control the vehicle to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration.

[0075] It should be noted that the technical solution provided in this embodiment can be applied in specific practices to scenarios including but not limited to: intelligent driving assistance, navigation assistance and automatic lane change.

[0076] It can be understood that the device provided in this embodiment obtains the minimum lane change acceleration based on the driving data of the own vehicle, the driving data of the target vehicle and the vehicle distance, obtains the comfortable lane change acceleration through the lane change acceleration model based on the driving data of the own vehicle, the driving data of the target vehicle and the vehicle distance, and controls the own vehicle to suppress lane change or perform lane change operation with the minimum lane change acceleration based on the minimum lane change acceleration and the comfortable lane change acceleration, thereby reducing the discomfort of the driver and passengers while ensuring the safety of automatic lane change, and effectively improving the riding experience of the passengers.

[0077] In specific practice, the device also includes: a direct lane change module, which is used to control the vehicle to perform a lane change operation at the speed of the vehicle itself if the speed of the vehicle in the driving data of the vehicle is greater than or equal to the speed of the target vehicle in the driving data of the target vehicle, and the acceleration of the target vehicle in the driving data of the target vehicle is less than or equal to 0; and end this automatic lane change control.

[0078] See also Figure 4 , Figure 4 is a schematic block diagram of an electronic device according to an exemplary embodiment of the present invention, see Figure 4 , an electronic device 200, comprising:

[0079] at least one processor 202; and

[0080] A memory 201 is communicatively connected to at least one processor 202; wherein,

[0081] The memory 201 stores instructions that can be executed by at least one processor 202. The instructions are executed by the at least one processor 202 so that the at least one processor 202 can execute any of the above-mentioned automatic lane change control methods for pilot assistance.

[0082] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0083] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0084] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A pilot-assisted automatic lane change control method, characterized in that: The method comprises: Acquire the driving data of the vehicle, the driving data of the target vehicle and the distance between the vehicle and the target vehicle; the driving data at least includes the vehicle speed and acceleration; the target vehicle is the rear vehicle in the target lane; Obtaining a minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance; Obtaining a comfortable lane-changing acceleration through a lane-changing acceleration model according to the own-vehicle driving data, the target vehicle driving data and the vehicle distance; The vehicle is controlled to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration.

2. The control method according to claim 1, characterized in that: The obtaining of the minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance includes: The minimum lane change acceleration is obtained according to the lane change acceleration formula, which is: Among them, a1 is the minimum lane change acceleration; a2 is the acceleration of the target vehicle; v1 is the speed of the own vehicle; v2 is the speed of the target vehicle; S is the distance between the own vehicle and the target vehicle.

3. The control method according to claim 2, characterized in that: Before obtaining the comfortable lane change acceleration through the lane change acceleration model according to the own vehicle driving data, the target vehicle driving data and the vehicle distance, the method includes: Obtaining the vehicle model of the vehicle; Acquire lane change data under different road conditions according to the vehicle model; the lane change data includes the speed of the vehicle, the speed of the vehicle behind the target lane, the acceleration of the vehicle behind the target lane, the distance between the vehicle and the vehicle behind, and the lane change acceleration of the vehicle; The lane change data set is obtained by removing corresponding data in the lane change data in which the lane change acceleration of the vehicle is greater than a preset acceleration upper limit; Dividing the lane change data set into a training set and a test set in a preset ratio; Create an initial path analysis model; The lane change acceleration model is obtained by training and verifying the initial path analysis model in sequence through the training set and the test set.

4. The control method according to claim 3, characterized in that: The obtaining of the comfortable lane-changing acceleration through the lane-changing acceleration model according to the own vehicle driving data, the target vehicle driving data and the vehicle distance includes: The acceleration of the target vehicle, the speed of the own vehicle, the speed of the target vehicle and the distance between the own vehicle and the target vehicle are input into the lane change acceleration model to obtain the comfortable lane change acceleration.

5. The control method according to claim 3, characterized in that: The method further comprises: The minimum lane change acceleration and corresponding driving data obtained each time the automatic lane change control method is executed are added to the lane change data set so as to continuously train and verify the lane change acceleration model.

6. The control method according to claim 4, characterized in that: The controlling the vehicle to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration includes: If the minimum lane change acceleration is greater than the comfortable lane change acceleration, suppressing the lane change operation of the vehicle; If the minimum lane-changing acceleration is less than or equal to the comfortable lane-changing acceleration, the vehicle is controlled to change lanes at the minimum lane-changing acceleration.

7. The control method according to claim 1, characterized in that: Before obtaining the minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance, the method further includes: If the speed of the self-vehicle in the self-vehicle driving data is greater than or equal to the speed of the target vehicle in the target vehicle driving data, and the acceleration of the target vehicle in the target vehicle driving data is less than or equal to 0, then the self-vehicle is controlled to perform a lane change operation at the speed of the self-vehicle; End the automatic lane change control.

8. A navigation-assisted automatic lane change control device, characterized in that: The device comprises: An acquisition module is used to acquire the driving data of the vehicle, the driving data of the target vehicle and the distance between the vehicle and the target vehicle; the driving data at least includes the vehicle speed and acceleration; the target vehicle is the rear vehicle in the target lane; A lane change acceleration module, used for obtaining a minimum lane change acceleration according to the own vehicle driving data, the target vehicle driving data and the vehicle distance; It is also used to obtain a comfortable lane-changing acceleration through a lane-changing acceleration model according to the own vehicle driving data, the target vehicle driving data and the vehicle distance; The lane change control module is used to control the vehicle to suppress lane change or perform lane change operation at the minimum lane change acceleration according to the minimum lane change acceleration and the comfortable lane change acceleration.

9. The control device according to claim 8, before the lane change acceleration module, the device further comprises: a direct lane-changing module, configured to control the ego vehicle to perform a lane-changing operation at the ego vehicle speed if the ego vehicle speed in the ego vehicle driving data is greater than or equal to the target vehicle speed in the target vehicle driving data, and the target vehicle acceleration in the target vehicle driving data is less than or equal to 0; End the automatic lane change control.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the automatic lane change control method for pilot assistance as described in any one of claims 1-7.

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