An automatic lane change control method, device and electronic equipment for piloting assistance

Abstract

The application relates to a piloting-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 self-vehicle driving data, target-vehicle driving data and a vehicle distance; obtaining a comfortable lane-changing acceleration through a lane-changing acceleration model according to the self-vehicle driving data, the target-vehicle driving data and the vehicle distance; and controlling the self-vehicle to inhibit 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. The method can guarantee the safety of automatic lane changing, reduce the discomfort of passengers, and effectively improve the riding experience of passengers.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving assistance, in particular to an automatic lane changing control method and device for navigation assistance and electronic equipment. BACKGROUND

[0002] Nowadays, in the industry state of more and more intelligent driving, many host manufacturers or intelligent driving scheme manufacturers are developing L2+ intelligent driving navigation assistance functions. In addition to the most basic lane keeping and adaptive cruise control functions, the automatic lane changing function is more important. Automatic lane changing includes lever lane changing, navigation lane changing, overtaking lane changing, etc.

[0003] Automatic lane changing is a very risky action, especially when driving in urban areas. It is necessary to ensure traffic efficiency and driving safety. Once the ego vehicle changes lanes, it is most likely to be fully responsible for the ego vehicle. In the existing automatic lane changing method, the ego vehicle's lane changing acceleration is obtained through the vehicle distance, vehicle speed and acceleration, and then the lane changing operation is performed through the ego vehicle's lane changing acceleration. The size of the lane changing acceleration directly affects the comfort of the driver and passengers. In the pursuit of lane changing without considering comfort, it is easy to perform lane changing with excessive lane changing acceleration, resulting in poor user experience of the driver and passengers. SUMMARY

[0004] Therefore, the present application provides an automatic lane changing control method and device for navigation assistance and electronic equipment to solve the problem of poor user experience of the driver and passengers caused by not considering comfort and easily performing lane changing with excessive lane changing acceleration in the prior art.

[0005] In a first aspect, an automatic lane changing control method for navigation assistance is provided, which comprises:

[0006] obtaining ego vehicle driving data, target vehicle driving data and vehicle distance between the ego vehicle and the target vehicle; the driving data at least includes vehicle speed and acceleration; the target vehicle is a vehicle behind the target lane;

[0007] obtaining a minimum lane changing acceleration according to the ego vehicle driving data, the target vehicle driving data and the vehicle distance;

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

[0009] controlling the ego vehicle to inhibit lane changing or performing lane changing operation at the minimum lane changing acceleration according to the minimum lane changing acceleration and the comfortable lane changing acceleration.

[0010] Further, the step of obtaining a minimum lane changing acceleration according to the ego vehicle driving data, the target vehicle driving data and the vehicle distance comprises:

[0011] The minimum lane-changing acceleration is obtained according to a lane-changing acceleration formula, and the lane-changing acceleration formula is:

[0012]

[0013] wherein a1 is the minimum lane-changing acceleration; a2 is the acceleration of the target vehicle; v1 is the vehicle speed of the ego vehicle; v2 is the vehicle speed of the target vehicle; and S is the vehicle distance between the ego vehicle and the target vehicle.

[0014] Further, before obtaining the comfortable lane-changing acceleration according to the ego vehicle driving data, the target vehicle driving data and the vehicle distance through the lane-changing acceleration model, the method comprises:

[0015] obtaining the vehicle model of the ego vehicle;

[0016] obtaining lane-changing data under different road conditions according to the vehicle model; the lane-changing data comprises the vehicle speed of the ego vehicle, the vehicle speed of the target vehicle behind the target lane, the acceleration of the target vehicle behind the target lane, the vehicle distance between the ego vehicle and the target vehicle, and the lane-changing acceleration of the ego vehicle;

[0017] obtaining a lane-changing data set by removing corresponding data in the lane-changing data in which the lane-changing acceleration of the ego vehicle is greater than a preset upper limit of acceleration;

[0018] dividing the lane-changing data set into a training set and a test set at a preset ratio;

[0019] creating an initial path analysis model;

[0020] training and verifying the initial path analysis model through the training set and the test set in turn to obtain the lane-changing acceleration model.

[0021] Further, the obtaining of the comfortable lane-changing acceleration according to the ego vehicle driving data, the target vehicle driving data and the vehicle distance through the lane-changing acceleration model comprises:

[0022] inputting the acceleration of the target vehicle, the vehicle speed of the ego vehicle, the vehicle speed of the target vehicle and the vehicle distance between the ego vehicle and the target vehicle into the lane-changing acceleration model to obtain the comfortable lane-changing acceleration.

[0023] Further, the method further comprises: adding the minimum lane-changing acceleration and the corresponding driving data obtained by executing the automatic lane-changing control method each time into the lane-changing data set, so as to continuously train and verify the lane-changing acceleration model.

[0024] Further, the controlling of the ego vehicle to inhibit lane-changing or performing lane-changing operation at the minimum lane-changing acceleration according to the minimum lane-changing acceleration and the comfortable lane-changing acceleration comprises:

[0025] if the minimum lane-changing acceleration is greater than the comfortable lane-changing acceleration, the host vehicle is inhibited from performing a lane-changing operation;

[0026] if the minimum lane-changing acceleration is less than or equal to the comfortable lane-changing acceleration, the host vehicle is controlled to perform a lane-changing operation at the minimum lane-changing acceleration.

[0027] Further, in obtaining the minimum lane-changing acceleration based on the host vehicle driving data, the target vehicle driving data and the vehicle distance, the method further comprises:

[0028] if the host vehicle speed in the host 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, the host vehicle is controlled to perform a lane-changing operation at the host vehicle speed;

[0029] ending the current automatic lane-changing control.

[0030] In a second aspect, an automatic lane-changing control device for pilot assistance is provided, and the device comprises:

[0031] a obtaining module configured to obtain host vehicle driving data, target vehicle driving data and a vehicle distance between the host vehicle and a target vehicle; the driving data at least comprises a vehicle speed and an acceleration; the target vehicle is a rear vehicle in a target lane;

[0032] a lane-changing acceleration module configured to obtain a minimum lane-changing acceleration based on the host vehicle driving data, the target vehicle driving data and the vehicle distance;

[0033] and further configured to obtain a comfortable lane-changing acceleration based on the host vehicle driving data, the target vehicle driving data and the vehicle distance through a lane-changing acceleration model;

[0034] a lane-changing control module configured to control the host vehicle to inhibit a lane-changing operation or perform a lane-changing operation at the minimum lane-changing acceleration based on the minimum lane-changing acceleration and the comfortable lane-changing acceleration.

[0035] In a third aspect, an electronic device is provided, and the device comprises:

[0036] at least one processor; and

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

[0038] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any of the above-mentioned automatic lane-changing control methods for pilot assistance.

[0039] The above technical solution of the present application has at least the following beneficial effects:

[0040] Provided are a lane-keeping-assisted automatic lane-changing control method, device and electronic equipment, a minimum lane-changing acceleration is obtained according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance, a comfortable lane-changing acceleration is obtained through a lane-changing acceleration model according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance, the self-vehicle is controlled to inhibit lane-changing or perform lane-changing operation at the minimum lane-changing acceleration according to the minimum lane-changing acceleration and the comfortable lane-changing acceleration, the discomfort of the driver and passenger is reduced while the safety of automatic lane-changing is ensured, and the riding experience of the driver and passenger is effectively improved.

[0041] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0043] Figure 1 is a flowchart of a lane-keeping-assisted automatic lane-changing control method according to an exemplary embodiment of the present application;

[0044] Figure 2 is a flowchart of a lane-keeping-assisted automatic lane-changing control method according to another exemplary embodiment of the present application;

[0045] Figure 3 is a schematic block diagram of a lane-keeping-assisted automatic lane-changing control device according to an exemplary embodiment of the present application;

[0046] Figure 4 is a schematic block diagram of an electronic equipment according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and cannot limit the present application.

[0048] Automatic lane-changing is a very risky action, especially when driving in urban areas, it is necessary to ensure traffic efficiency and driving safety; once the self-vehicle lane-changing accident occurs, it is highly likely that the self-vehicle is fully responsible; therefore, the safety of the automatic lane-changing function is a content that must be paid attention to, the existing technology does not consider comfort when lane-changing, and it is easy to lane-changing with excessive lane-changing acceleration, resulting in poor user experience of the driver and passenger.

[0049] The embodiment of the application provides a kind of piloting auxiliary automatic lane change control method, device and electronic equipment, by intelligent driving controller, target lane is detected, road condition data is collected, model training is carried out, and self-vehicle lane change acceleration model is obtained;When being initiated automatic lane change using city piloting function, control vehicle to carry out lane change or inhibit the scheme of lane change, guarantee the comfort and safety of automatic lane change.

[0050] The method and device in the application will be described below by specific embodiments.

[0051] Please refer to Figure 1 , Figure 1 It is a kind of piloting auxiliary automatic lane change control method flow chart shown in an exemplary embodiment of the application, see Figure 1 , the method comprises:

[0052] Step S11, obtains self-vehicle driving data, target vehicle driving data and the distance between self-vehicle and target vehicle;

[0053] Step S12, obtains minimum lane change acceleration according to self-vehicle driving data, target vehicle driving data and distance;

[0054] Step S13, obtains comfortable lane change acceleration according to self-vehicle driving data, target vehicle driving data and distance through lane change acceleration model;

[0055] Step S14, according to minimum lane change acceleration and comfortable lane change acceleration, control self-vehicle to inhibit lane change or execute lane change operation with minimum lane change acceleration.

[0056] It should be noted that the technical scheme provided by the embodiment can be added to the existing intelligent driving system in the form of small program in specific practice, or can also be in the form of independent application program, to complete the interface of automatic lane change function;Applicable scenarios include but are not limited to: intelligent driving assistance, piloting assistance and automatic lane change.

[0057] Specifically, driving data at least includes speed and acceleration;Target vehicle is the rear vehicle of target lane;Before step S12, if self-vehicle speed in self-vehicle driving data is greater than or equal to target vehicle speed in target vehicle driving data, and target vehicle acceleration in target vehicle driving data is less than or equal to 0, then control self-vehicle to execute lane change operation with self-vehicle speed;End this time automatic lane change control.

[0058] It can be understood that the embodiment provides a control method, obtains the minimum lane changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance, obtains the comfortable lane changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance through the lane changing acceleration model, controls the self-vehicle to inhibit 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, reduces the discomfort of the driver and passenger while ensuring the safety of automatic lane changing, and effectively improves the riding experience of the driver and passenger.

[0059] In specific implementation, the step S11 of obtaining the self-vehicle driving data, the target vehicle driving data and the vehicle distance between the self-vehicle and the target vehicle comprises: obtaining the vehicle speed of the self-vehicle at the current time, and the vehicle speed, acceleration of the target vehicle and the vehicle distance between the two vehicles.

[0060] In specific implementation, the step S12 of obtaining the minimum lane changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance comprises: obtaining the minimum lane changing acceleration according to the lane changing acceleration formula, wherein the lane changing acceleration formula is: wherein a1 is the minimum lane changing acceleration; a2 is the acceleration of the target vehicle; v1 is the vehicle speed of the self-vehicle; v2 is the vehicle speed of the target vehicle; and S is the vehicle distance between the self-vehicle and the target vehicle.

[0061] It should be noted that when the self-vehicle initiates lane changing, the target lane satisfies the lane changing space, and the target lane has a rear vehicle normally driving, and the formula [v2+a2t-(v1+a1t)]·t≤S-S min wherein v1 is the vehicle speed of the self-vehicle, a1 is the longitudinal acceleration, v2 is the vehicle speed of the rear vehicle in the target lane, a2 is the longitudinal acceleration, t is the lane changing time of the vehicle, t is taken as 3s, the longitudinal distance between the vehicle and the rear vehicle in the target lane is called the lane changing space S, S min = v1*1.5; and the lane changing acceleration formula obtained after formula transformation is:

[0062] In specific implementation, before the step S13, the lane changing acceleration model needs to be trained first, and the specific process is: obtaining the vehicle model of the self-vehicle; obtaining the lane changing data under different road conditions according to the vehicle model; the lane changing data comprises the vehicle speed of the self-vehicle, the vehicle speed of the rear vehicle in the target lane, the acceleration of the rear vehicle in the target lane, the vehicle distance between the self-vehicle and the rear vehicle and the lane changing acceleration of the self-vehicle; removing the corresponding data in the lane changing data set in which the lane changing acceleration of the self-vehicle is greater than the preset upper limit of acceleration to obtain the lane changing data set; dividing the lane changing data set into a training set and a test set at a preset ratio; creating an initial path analysis model; and training and verifying the initial path analysis model through the training set and the test set to obtain the lane changing acceleration model.

[0063] It should be noted that the preset upper limit of acceleration can be obtained according to multiple tests, and is generally set to 1m / s 2The preset proportion is generally that the training set accounts for 70% and the test set accounts for 30%; the consistency needs to reach 90% to complete the training of the lane-changing acceleration model.

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

[0065] In specific practice, the step S13 of obtaining the comfortable lane-changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance through the lane-changing acceleration model comprises: inputting the acceleration of the target vehicle, the speed of the self-vehicle, the speed of the target vehicle and the vehicle distance between the self-vehicle and the target vehicle into the lane-changing acceleration model to obtain the comfortable lane-changing acceleration.

[0066] In specific practice, the minimum lane-changing acceleration and the corresponding driving data obtained by executing the automatic lane-changing control method each time are added to the lane-changing data set, so as to continuously train and verify the lane-changing acceleration model.

[0067] In specific practice, the step S14 of controlling the self-vehicle to inhibit lane-changing or performing lane-changing operation at the minimum lane-changing acceleration according to the minimum lane-changing acceleration and the comfortable lane-changing acceleration comprises: if the minimum lane-changing acceleration is greater than the comfortable lane-changing acceleration, inhibiting the self-vehicle from performing lane-changing operation; and if the minimum lane-changing acceleration is less than or equal to the comfortable lane-changing acceleration, controlling the self-vehicle to perform lane-changing operation at the minimum lane-changing acceleration.

[0068] It should be noted that the self-vehicle is inhibited from performing lane-changing operation this time, and the automatic lane-changing control can be continued after a certain time length, which is determined by the road condition, and the time length is shortened when the road condition needs to change lanes.

[0069] In one specific embodiment, please refer to Figure 2 , Figure 2 is a flowchart of a lane-keeping assisted automatic lane-changing control method according to another exemplary embodiment of the present application, please refer to Figure 2 , the method comprises: when the vehicle does not use the lane-keeping assistance function, the related driving data of each time when the driver initiates automatic lane-changing is saved for self-vehicle lane-changing acceleration model training, the related driving data comprises: the distance to the rear vehicle of the target lane, the speed, acceleration, speed of the self-vehicle and acceleration of the self-vehicle when changing lanes, and the trained self-vehicle lane-changing acceleration model is deployed to the vehicle-mounted intelligent driving system; when the vehicle uses the lane-keeping assistance function, the intelligent driving controller of the vehicle-mounted intelligent driving system initiates automatic lane-changing, and the road condition of the target lane is obtained, that is, the speed v1 of the self-vehicle, the speed v2 and the acceleration a2 of the rear vehicle of the target lane are obtained; if v1≥v2 and a2≤0, the self-vehicle directly changes lanes at the speed v1; if v1 舒适 ; if a1≤a舒适 If a1 is greater than a, then the lane changing operation is performed at a1; if a1 is less than a, then the lane changing operation is performed at a. 舒适 If a1 is greater than a, then the lane changing operation is performed at a1; if a1 is less than a, then the lane changing operation is performed at a.

[0070] Please refer to Figure 3 , Figure 3 is a schematic block diagram of a lane-keeping assisted automatic lane changing control device according to an exemplary embodiment of the present application, referring to Figure 3 , the lane-keeping assisted automatic lane changing control device 100 comprises:

[0071] The acquisition module 101 is configured to acquire self-vehicle driving data, target vehicle driving data and a vehicle distance between the self-vehicle and the target vehicle; the driving data at least comprises a vehicle speed and an acceleration; the target vehicle is a rear vehicle of a target lane;

[0072] The lane changing acceleration module 102 is configured to obtain a minimum lane changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance;

[0073] The lane changing acceleration module 102 is further configured to obtain a comfortable lane changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance through a lane changing acceleration model;

[0074] The lane changing control module 103 is configured to control the self-vehicle to inhibit lane changing or perform lane changing operation at the minimum lane changing acceleration according to the minimum lane changing acceleration and the comfortable lane changing acceleration.

[0075] It should be noted that the technical solutions provided in the embodiments can be applied to scenarios including but not limited to intelligent driving assistance, lane-keeping assistance and automatic lane changing.

[0076] It can be understood that the device provided in the embodiments obtains a minimum lane changing acceleration according to self-vehicle driving data, target vehicle driving data and a vehicle distance, obtains a comfortable lane changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the vehicle distance through a lane changing acceleration model, and controls the self-vehicle to inhibit lane changing or perform lane changing operation at the minimum lane changing acceleration according to the minimum lane changing acceleration and the comfortable lane changing acceleration, thereby reducing the discomfort of the driver and passenger while ensuring the safety of automatic lane changing, and effectively improving the riding experience of the driver and passenger.

[0077] In specific implementation, the device further comprises a direct lane changing module configured to, if the vehicle speed in the self-vehicle driving data is greater than or equal to the vehicle speed 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, control the self-vehicle to perform lane changing operation at the vehicle speed of the self-vehicle; and end the automatic lane changing control.

[0078] Please refer to Figure 4 , Figure 4 is a schematic block diagram of an electronic device according to an exemplary embodiment of the present application, referring to Figure 4 , the electronic device 200 comprises:

[0079] at least one processor 202; and

[0080] a memory 201 connected with the at least one processor 202; wherein,

[0081] The memory 201 stores instructions executable by the at least one processor 202, and the instructions are executed by the at least one processor 202 to enable the at least one processor 202 to perform any of the above-mentioned automatic lane changing control methods for piloting assistance.

[0082] The above-described embodiments are merely representative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be construed as limiting the scope of the patent. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

[0083] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware, 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 above-mentioned embodiments. In the embodiments provided by the present application, any reference to memory, storage, database or other medium 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 but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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), etc.

[0084] Each technical feature of the above embodiments can be combined arbitrarily. In order to make the description simple, not all possible combinations of each technical feature in the above embodiments are described, however, as long as the combination of technical features does not exist contradictory, it should be considered as the scope of the present application.

[0085] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A method of automatic lane change control with navigation assistance, characterized by, The method comprises: obtaining self-vehicle driving data, target vehicle driving data and the distance between the self-vehicle and the target vehicle; the driving data at least comprises vehicle speed and acceleration; the target vehicle is a rear vehicle in a target lane; obtaining a minimum lane-changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the distance; obtaining a comfortable lane-changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the distance through a lane-changing acceleration model; controlling the self-vehicle to inhibit lane-changing or performing lane-changing operation at the minimum lane-changing acceleration according to the minimum lane-changing acceleration and the comfortable lane-changing acceleration; before obtaining the comfortable lane-changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the distance through the lane-changing acceleration model, the method comprises: obtaining the vehicle model of the self-vehicle; obtaining lane-changing data under different road conditions according to the vehicle model; the lane-changing data comprises self-vehicle speed, target lane rear vehicle speed, target lane rear vehicle acceleration, self-vehicle distance to the rear vehicle and self-vehicle lane-changing acceleration; obtaining a lane-changing data set by removing corresponding data in the lane-changing data in which the self-vehicle lane-changing acceleration is greater than a preset upper limit of acceleration; dividing the lane-changing data set into a training set and a test set at a preset ratio; creating an initial path analysis model; and training and verifying the initial path analysis model through the training set and the test set in turn to obtain the lane-changing acceleration model.

2. The control method according to claim 1, characterized by, The method further comprises: adding the minimum lane-changing acceleration and corresponding driving data obtained by performing the automatic lane-changing control method each time to the lane-changing data set so as to continuously train and verify the lane-changing acceleration model.

3. The control method according to claim 1, characterized by, The method further comprises: if the minimum lane-changing acceleration is greater than the comfortable lane-changing acceleration, inhibiting self-vehicle lane-changing operation; 4. The control method according to claim 2, characterized by, if the minimum lane-changing acceleration is less than or equal to the comfortable lane-changing acceleration, controlling the self-vehicle to change lanes at the minimum lane-changing acceleration. before obtaining the minimum lane-changing acceleration according to the self-vehicle driving data, the target vehicle driving data and the distance, the method further comprises: if the self-vehicle speed in the self-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, controlling the self-vehicle to perform lane-changing operation at the self-vehicle speed; 5. The control method according to claim 1, characterized by, ending this time of automatic lane-changing control. The device comprises: an obtaining module, configured to obtain self-vehicle driving data, target vehicle driving data and the distance between the self-vehicle and the target vehicle; the driving data at least comprises vehicle speed and acceleration; the target vehicle is a rear vehicle in a target lane; 6. An automatic lane change control device of a pilot assist, characterized by, ​ ​ The lane-changing acceleration module is configured to obtain a minimum lane-changing acceleration based on the ego vehicle driving data, the target vehicle driving data, and the vehicle distance; obtain a vehicle model of the ego vehicle; obtain lane-changing data under different road conditions based on the vehicle model; the lane-changing data includes a vehicle speed of the ego vehicle, a vehicle speed of a rear vehicle in a target lane, an acceleration of the rear vehicle in the target lane, a vehicle distance between the ego vehicle and the rear vehicle, and a lane-changing acceleration of the ego vehicle; remove corresponding data in the lane-changing data in which the lane-changing acceleration of the ego vehicle is greater than a preset upper limit of acceleration to obtain a lane-changing data set; divide the lane-changing data set into a training set and a test set at a preset ratio; create an initial path analysis model; and train and verify the initial path analysis model based on the training set and the test set to obtain a lane-changing acceleration model. The lane-changing control module is configured to control the ego vehicle to perform lane-changing operation at the minimum lane-changing acceleration or to suppress lane-changing based on the minimum lane-changing acceleration and the comfortable lane-changing acceleration.

7. The control device according to claim 6, before the lane-changing acceleration module, the device further comprises: The direct lane-changing module is configured to control the ego vehicle to perform lane-changing operation at a vehicle speed of the ego vehicle if the vehicle speed of the ego vehicle in the ego vehicle driving data is greater than or equal to a vehicle speed of the target vehicle in the target vehicle driving data, and an acceleration of the target vehicle in the target vehicle driving data is less than or equal to 0. End this time automatic lane-changing control. The device comprises:

8. An electronic device, comprising: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the automatic lane-changing control method of the piloting assistance according to any one of claims 1-5. ​

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