Lane-changing control method for vehicle, vehicle and computer-readable storage medium

Abstract

The present application discloses a lane-changing control method for a vehicle, a vehicle, and a computer-readable storage medium. The lane-changing control method for the vehicle includes: before the vehicle changes lanes, determining whether the vehicle can change lanes from the current lane to an adjacent target lane. If it is determined that the vehicle can change lanes from the current lane to the target lane, an assured lane-changing control method is executed. Among them, the assured lane-changing control method includes: determining whether, after the vehicle changes lanes to the target lane, it will run parallel to a large vehicle. If it is determined that the vehicle will not run parallel to a large vehicle after changing lanes to the target lane, controlling the vehicle to change lanes to the target lane. By determining whether the vehicle will run parallel to a large vehicle after changing lanes to the target lane, the situation of the adjacent lane of the lane where the vehicle is located after the lane change is fully considered. If it is determined that the vehicle will not run parallel to a large vehicle after changing lanes to the target lane, controlling the vehicle to change lanes to the target lane. In this way, it is possible to avoid running parallel to a large vehicle after the lane change and ensure the driver's sense of security.

Description

Technical Field

[0001] This application relates to the technical field of vehicle lane change control, and particularly to a lane change control method, a vehicle, and a computer-readable storage medium for a vehicle. Background Art

[0002] With the development of technology, the adoption rate of high-level intelligent driving is getting higher and higher, and consumers' requirements for intelligent driving are also getting higher and higher, evolving from the previous need for automatic lane change to the need for a detailed experience of the function. In related technologies, automatic lane change mainly considers lane change efficiency and safety, and only considers the vehicle information in adjacent lanes during lane change planning. For example, if it can change lanes, it will directly change lanes without considering the vehicle attributes in the adjacent lane at the end position of the lane change. For some drivers, the sense of security is relatively poor. Summary of the Invention

[0003] This application provides a lane change control method, a vehicle, and a computer-readable storage medium for a vehicle to solve at least some of the problems in the related technologies.

[0004] On the one hand, this application provides a lane change control method for a vehicle, including:

[0005] Before the vehicle changes lanes, determine whether the vehicle can change lanes from the current lane to the adjacent target lane.

[0006] If it is determined that the vehicle can change lanes from the current lane to the target lane, execute a reassuring lane change control method, where the reassuring lane change control method includes:

[0007] Determine whether the vehicle will be parallel to a large vehicle after changing lanes to the target lane.

[0008] If it is determined that the vehicle will not be parallel to a large vehicle after changing lanes to the target lane, control the vehicle to change lanes to the target lane.

[0009] Optionally, the reassuring lane change control method further includes:

[0010] If it is determined that the vehicle will be parallel to a large vehicle after changing lanes to the target lane, control the vehicle to drive in the current lane.

[0011] Optionally, the reassuring lane change control method further includes:

[0012] If it is determined that the vehicle will be parallel to a large vehicle after changing lanes to the target lane, generate a request for whether to control the vehicle to change lanes.

[0013] In response to the confirmation information of the driver confirming the request, control the vehicle to change lanes to the target lane or drive in the current lane.

[0014] Optionally, the lane change control method further includes:

[0015] Obtain the driving style information of the driver, where the driving style information includes first information indicating that the driver's driving style is the first style and second information indicating that the driving style is the second style.

[0016] If the driving style information is the first information, execute the safe lane change control method.

[0017] If the driving style information is the second information, execute the efficient lane change control method, and the efficient lane change control method includes: if it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane.

[0018] Optionally, the obtaining of the driver's driving style information includes:

[0019] Obtain the gender of the driver, where the first information indicates that the driver is female and the second information indicates that the driver is male. Or

[0020] Generate a request for the driver to select a driving style, where the driving style includes the first style and the second style.

[0021] Obtain the driving style information generated by the driver's selection of the first style or the second style. If the driver selects the first style, generate the first information. If the driver selects the second style, generate the second information.

[0022] Optionally, the lane change control method further includes:

[0023] If the driving style information is the first information, obtain the first takeover times, where the first takeover times are the number of times the driver takes over to make the vehicle change lanes to the target lane when it is determined that the vehicle has changed lanes to the target lane and is driving parallel to a large vehicle.

[0024] If the first takeover times are greater than the set first number limit, control the vehicle to travel according to the efficient lane change control method.

[0025] Optionally, the lane change control method further includes:

[0026] If the driving style information is the second information, obtain the second takeover times, where the second takeover times are the number of times the driver takes over to make the vehicle drive in the current lane when it is determined that the vehicle can change lanes from the current lane to the target lane and is driving parallel to a large vehicle after the lane change.

[0027] If the second takeover times are greater than the set second number limit, control the vehicle to travel according to the safe lane change control method.

[0028] Optionally, before determining whether the vehicle can change lanes from the current lane to the target lane, the lane change control method further includes:

[0029] Obtaining a first vehicle speed of the vehicle in front in the current lane and a second vehicle speed of the vehicle in front in the target lane.

[0030] The determination of whether the vehicle can change lanes from the current lane to the target lane includes:

[0031] If the first vehicle speed is less than the first vehicle speed limit and the second vehicle speed is greater than the first vehicle speed, determining whether the vehicle can change lanes from the current lane to the target lane.

[0032] Optionally, the lane change control method further includes:

[0033] Obtaining path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0034] If the lane change information is obtained and it is determined that the vehicle can change lanes from the current lane to the target lane, controlling the vehicle to change lanes to the target lane.

[0035] If the path planning information is not the lane change information, in the case of waiting to change lanes, if it is determined that the vehicle can change lanes from the current lane to the target lane, execute the safe lane change control method.

[0036] Optionally, the lane change control method further includes:

[0037] Obtaining path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0038] If the lane change information is obtained, it is determined that the vehicle can change lanes from the current lane to the target lane, and the vehicle is parallel to a large vehicle after changing lanes to the target lane, generating a prompt to select a lane change or plan a new path.

[0039] In response to lane change selection information in which the driver selects to change lanes, controlling the vehicle to change lanes.

[0040] In response to path update selection information in which the driver selects to plan a new path, controlling the vehicle to travel according to the new path.

[0041] Optionally, the lane change control method further includes:

[0042] Obtain the distance between another vehicle in the reference lane and the target lane, where the reference lane is adjacent to the target lane, the target lane is located between the reference lane and the current lane, and the other vehicle is the vehicle that will be parallel to the subject vehicle after the subject vehicle changes lanes.

[0043] Determine the lateral acceleration of the vehicle when changing lanes according to the distance. Wherein, different distances result in different lateral accelerations.

[0044] Another aspect of the present application provides a vehicle, including a sensing system, a steering system, a driving system, and a lane-changing control system. The lane-changing control system is connected to the sensing system, the steering system, and the driving system. The lane-changing control system includes a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, the lane-changing control method described above is implemented.

[0045] Another aspect of the present application provides a computer-readable storage medium with a program stored thereon. When the program is executed, the lane-changing control method described above is implemented.

[0046] Compared with the related art, the lane-changing control method for the vehicle provided by the present application fully considers the situation of the adjacent lanes of the lane where the vehicle is located after the lane change by determining whether the vehicle is parallel to a large vehicle after changing lanes to the target lane. If it is determined that the vehicle is not parallel to a large vehicle after changing lanes to the target lane, the vehicle is controlled to change lanes to the target lane. In this way, it is possible to avoid being parallel to a large vehicle after the lane change and ensure the driver's sense of security when using automatic lane change. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with the present application and used together with the description to explain the principles of the present application.

[0048] Figure 1 It is a schematic flowchart of the lane-changing control method for the vehicle shown in an embodiment of the present application.

[0049] Figure 2 For Figure 1 It is a schematic flowchart of an implementation manner of the safe lane-changing control method shown.

[0050] Figure 3 For Figure 1 It is a schematic flowchart of another implementation manner of the safe lane-changing control method shown.

[0051] Figure 4 For Figure 1 It is a schematic flowchart of yet another implementation manner of the safe lane-changing control method shown.

[0052] Figure 5Schematic flow chart of the lane change control method for a vehicle shown in another embodiment of the present application.

[0053] Figure 6 Schematic flow chart of the lane change control method for a vehicle shown in yet another embodiment of the present application.

[0054] Figure 7 Schematic flow chart of the lane change control method for a vehicle shown in still another embodiment of the present application.

[0055] Figure 8 Schematic flow chart of the lane change control method for a vehicle shown in still another embodiment of the present application.

[0056] Figure 9 Schematic flow chart of the lane change control method for a vehicle shown in still another embodiment of the present application.

[0057] Figure 10 Structure block diagram of a vehicle shown in an embodiment of the present application.

[0058] Figure 11 For Figure 10 Structure block diagram of the lane change control system shown. Detailed implementation manners

[0059] The present application provides a lane change control method for a vehicle, a vehicle, and a computer-readable storage medium. The following will describe in detail the lane change control method for a vehicle, the vehicle, and the computer-readable storage medium of the present application in conjunction with the accompanying drawings. Without conflict, the features in the following embodiments and implementation manners can be combined with each other.

[0060] Please refer to Figure 1 and Figure 2 , Figure 1 Schematic flow chart of the lane change control method 10 for a vehicle shown in an embodiment of the present application. Figure 2 For Figure 1 Schematic flow chart of an implementation manner of the safe lane change control method 20 shown.

[0061] As Figure 1 and Figure 2 shown, the lane change control method 10 for a vehicle provided by the embodiments of the present application includes steps 11 to 12.

[0062] Step 11, before the vehicle changes lanes, determine whether the vehicle can change lanes from the current lane to the adjacent target lane. Specifically, the vehicle speed of the vehicle behind in the adjacent target lane and the interval between the vehicle in front and the vehicle behind in the adjacent target lane can be collected by the sensing system on the vehicle, and it is determined whether the vehicle can change lanes from the current lane to the adjacent target lane.

[0063] Step 12, if it is determined that the vehicle can change lanes from the current lane to the target lane, execute the safe lane change control method 20. Among them, the safe lane change control method 20 includes Step 21 and Step 22.

[0064] Step 21, determine whether the vehicle will run parallel to a large vehicle after changing lanes to the target lane. Specifically, the vehicle information of other vehicles in the adjacent lane on the other side of the target lane can be collected through the sensing system on the vehicle, and the landing point information of the vehicle after changing lanes to the target lane can be determined, and it can be judged whether the other vehicles in the adjacent lane near the landing point are large vehicles. If it is a large vehicle, the vehicle will run parallel to the large vehicle after changing lanes to the target lane. The large vehicle in the embodiments of the present application may be a freight vehicle, a bus, a large bus, etc. Because the large vehicle has a relatively long length and a relatively wide width, the line of sight is not good when running parallel to the large vehicle, which will reduce the sense of security of some drivers.

[0065] Step 22, if it is determined that the vehicle will not run parallel to a large vehicle after changing lanes to the target lane, control the vehicle to change lanes to the target lane.

[0066] The lane change control method 10 of the vehicle provided in the present application fully considers the situation of the adjacent lane of the lane where the vehicle is located after the lane change is completed by determining whether the vehicle will run parallel to a large vehicle after changing lanes to the target lane. If it is determined that the vehicle will not run parallel to a large vehicle after changing lanes to the target lane, control the vehicle to change lanes to the target lane. In this way, it is possible to avoid running parallel to a large vehicle after the lane change is completed and ensure the sense of security of the driver.

[0067] Please refer to Figure 3 , Figure 3 for Figure 1 the flowchart of another implementation manner of the safe lane change control method 20 shown in. In the Figure 3 embodiment shown, the safe lane change control method 20 includes Step 21 and Step 23.

[0068] Step 21, determine whether the vehicle will run parallel to a large vehicle after changing lanes to the target lane.

[0069] Step 23, if it is determined that the vehicle will run parallel to a large vehicle after changing lanes to the target lane, control the vehicle to drive in the current lane. In this way, it is possible to avoid running parallel to a large vehicle after the vehicle changes lanes to the target lane and ensure the sense of security of the driver.

[0070] Please refer to Figure 4 , Figure 4 for Figure 1 the flowchart of yet another implementation manner of the safe lane change control method 20 shown in. In the Figure 4 embodiment shown, the safe lane change control method 20 includes Step 21 and Steps 241 to 242.

[0071] Step 21, determine whether the vehicle will run parallel to a large vehicle after changing lanes to the target lane.

[0072] Step 241: If it is determined that the vehicle is parallel to a large vehicle after changing lanes to the target lane, a request for whether to control the vehicle to change lanes is generated.

[0073] Step 242: In response to the confirmation information of the driver confirming the request, control the vehicle to change lanes to the target lane or drive in the current lane.

[0074] When it is determined that the vehicle will be parallel to a large vehicle after changing lanes to the target lane, if the driver chooses to continue changing lanes, control the vehicle to change lanes to the target lane; if the driver chooses not to change lanes temporarily, control the vehicle to drive in the current lane. In this way, not only the driver's sense of security during automatic lane change is considered, but also the driver's true driving intention is respected. Moreover, by generating a request for whether to control the vehicle to change lanes, human-machine interaction with the driver is carried out to remind the driver of the current lane change situation. If the driver chooses to continue changing lanes, it also gives the driver a certain psychological expectation of the road conditions after lane change, which can reduce the sudden feeling and uneasiness during automatic lane change.

[0075] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of the lane change control method 10 of the vehicle shown in another embodiment of the present application. In Figure 5 the embodiment shown, the lane change control method 10 of the vehicle includes Step 13 to Step 14.

[0076] Step 13: Obtain the driving style information of the driver, where the driving style information includes the first information indicating that the driving style of the driver is the first style and the second information indicating that the driving style is the second style.

[0077] Step 14: If the driving style information is the first information, execute the safe lane change control method 20.

[0078] Step 15: If the driving style information is the second information, execute the efficient lane change control method, and the efficient lane change control method includes: if it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane.

[0079] Among them, the efficient lane change method does not consider the situation of the adjacent lane after the vehicle completes the lane change. When it is only determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane. In this way, the efficiency of lane change can be improved.

[0080] The vehicle lane-changing control method 10 provided by the embodiments of the present application obtains the driving style information of the driver. If the driving style information is the first information, the safe lane-changing control method 20 is executed. If the driving style is the second information, the efficient lane-changing control method is executed. In this way, different lane-changing control methods 10 can be executed according to different driving style information, so that the vehicle lane-changing control method 10 matches the driving style of the driver, the tacit understanding between the vehicle and the driver is higher, and the driving experience of the driver is improved.

[0081] In some embodiments, obtaining the driving style information of the driver includes:

[0082] Obtaining the gender of the driver, where the first information indicates that the driver is female, and the second information indicates that the driver is male.

[0083] In some specific embodiments, obtaining the gender information of the driver can be determined by an image sensor on the vehicle or in combination with a pressure sensor on the driver's seat of the vehicle. Combining the analysis of the driving styles of male and female drivers by big data, generally, female drivers tend to the first style, that is, the safe driving style, and will avoid driving parallel to large vehicles after lane-changing. Male drivers tend to the second style, that is, the efficient driving style, and pay more attention to the efficiency during lane-changing, and consider less whether they drive parallel to large vehicles after lane-changing.

[0084] In this patent application, by obtaining the gender of the driver, if the driver is female, the safe lane-changing control method 20 is executed. If the driver is male, the efficient lane-changing control method is executed. In this way, a suitable driving style and lane-changing control method 10 can be matched according to the gender of the driver. And by obtaining the gender of the driver, the driving style and lane-changing control method 10 are automatically matched for the driver, which is convenient and fast, can reduce the steps of the driver setting the vehicle driving style parameters, and improve the driving and riding experience.

[0085] In other embodiments, obtaining the driving style information of the driver includes:

[0086] Generating a request for the driver to select a driving style, where the driving style includes the first style and the second style.

[0087] Obtaining the driving style information generated by the driver's selection of the first style or the second style. If the driver selects the first style, the first information is generated. If the driver selects the second style, the second information is generated. In this way, according to the driver's understanding of their own driving habits, a suitable driving style can be selected, and a suitable lane-changing control method 10 can be matched for the driver, with stronger pertinence.

[0088] Please refer to Figure 6 , Figure 6The flowchart of the lane-changing control method 10 of the vehicle shown in another embodiment of the present application. In Figure 6 In the shown embodiment, the lane-changing control method 10 further includes step 16 of switching from the safe lane-changing control method 20 to the efficient lane-changing control method. Step 16 includes step 161 and step 162.

[0089] Step 161, if the driving style information is the first information, obtain the first takeover times, where the first takeover times are the number of times the driver takes over to make the vehicle change lanes to the target lane when it is determined that the vehicle is parallel to a large vehicle after changing lanes to the target lane.

[0090] Step 162, if the first takeover times are greater than the set first limit value, control the vehicle to travel according to the efficient lane-changing control method.

[0091] Although before lane-changing, based on the gender of the driver or the driver's choice of driving style, it is determined whether the lane-changing control method 10 is the safe lane-changing control method 20 or the efficient lane-changing control method. However, some male drivers also tend to have a safe driving style, some female drivers also tend to have an efficient driving style, and there will also be a certain deviation in whether the driver's own driving habits are more in line with the safe driving style or the efficient driving style. Therefore, it is necessary to correct it during the driving process.

[0092] In this patent application, when the driving style information is the first information, that is, the driving style is the safe driving style. When it is determined that the vehicle is parallel to a large vehicle after changing lanes to the target lane, the lane-changing control method 10 of the vehicle controls the vehicle to travel on the current road or generates a request for whether to control the vehicle to change lanes, and obtains the first takeover times when the driver takes over the vehicle to change lanes to the target lane or chooses to control the vehicle to change lanes to the target lane. If the first takeover times are greater than the set first limit value, it means that the driver's driving style is more in line with the efficient driving style. At this time, control the vehicle to travel according to the efficient lane-changing control method. In some embodiments, the sum of the consecutive takeover times is the first takeover times. In this way, the driver's driving style can be accurately obtained during fewer turning processes.

[0093] Please refer to Figure 7 , Figure 7 The flowchart of the lane-changing control method 10 of the vehicle shown in still another embodiment of the present application. In Figure 7 In the shown embodiment, the lane-changing control method 10 further includes step 17 of switching from the efficient lane-changing control method to the safe lane-changing control method 20. Step 17 includes step 171 and step 172.

[0094] Step 171, if the driving style information is the second information, obtain the second takeover times, where the second takeover times are the times when the driver takes over to make the vehicle travel in the current lane when it is determined that the vehicle can change lanes from the current lane to the target lane and run parallel to a large vehicle after the lane change.

[0095] Step 172, if the second takeover times are greater than the set second times limit value, control the vehicle to travel according to the safe lane change control method 20.

[0096] When the driving style information is the second information, that is, when the driving style is the efficient driving style, when it is determined that the vehicle can change lanes from the current lane to the target lane, when the vehicle lane change control method 10 controls the vehicle to change lanes from the current lane to the target lane, if it runs parallel to a large vehicle after the lane change, obtain the second takeover times when the driver takes over the vehicle to make the vehicle travel in the current lane, so as to avoid running parallel to a large vehicle after the lane change. If the second takeover times are greater than the set second times limit value, it indicates that the driver's driving style is more in line with the safe driving style. At this time, control the vehicle to travel according to the safe lane change control method 20.

[0097] In some embodiments, before determining whether the vehicle can change lanes from the current lane to the target lane, the lane change control method 10 further includes: obtaining the first vehicle speed of the vehicle in front in the current lane and the second vehicle speed of the vehicle in front in the target lane.

[0098] Determining whether the vehicle can change lanes from the current lane to the target lane includes: if the first vehicle speed is less than the first vehicle speed limit value and the second vehicle speed is greater than the first vehicle speed, determine whether the vehicle can change lanes from the current lane to the target lane.

[0099] If the first vehicle speed is less than the first vehicle speed limit value and the second vehicle speed is greater than the first vehicle speed, it indicates that the vehicle speed in the current lane is slower and the vehicle speed in the adjacent target lane is greater than the vehicle speed in this lane. In this case, it can be determined whether the vehicle can change lanes from the current lane to the target lane, so as to reduce the adverse impact on the vehicle caused by the vehicle in front pressing the speed.

[0100] If it is determined that the vehicle can change lanes from the current lane to the target lane, the safe lane change control method 20 can be executed. Specifically, if it is determined that the vehicle runs parallel to a large vehicle after changing lanes to the target lane, control the vehicle to travel in the current lane. If it is determined that the vehicle does not run parallel to a large vehicle after changing lanes to the target lane, control the vehicle to change lanes to the target lane or, in response to the confirmation information of the driver's confirmation request, control the vehicle to change lanes to the target lane or travel in the current lane. The efficient lane change control method can also be executed to directly control the vehicle to change lanes to the target lane.

[0101] Please refer to Figure 8 , Figure 8 which is the flow schematic diagram of the lane change control method 10 of the vehicle shown in another embodiment of the present application. As Figure 8As shown, the lane change control method 10 of the vehicle includes steps 181 to 183.

[0102] Step 181, obtain path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0103] Step 182, if the lane change information is obtained and it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane.

[0104] Step 183, if the path planning information is not lane change information, in the case of waiting to change lanes, if it is determined that the vehicle can change lanes from the current lane to the target lane, execute the safe lane change control method 20.

[0105] In this way, by obtaining the path planning information, it can be judged whether the vehicle needs to change lanes based on path planning requirements. For example, vehicle turning or entering and exiting ramps, etc. all belong to the scope of lane change requirements based on path planning. When changing lanes based on path planning requirements, if it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane. At this time, the priority of driving according to the planned path is higher than the priority of avoiding driving parallel to large vehicles, and the problem of driving parallel to large vehicles after changing lanes to the target lane can be ignored, and the vehicle is controlled to change lanes to the target lane. If it is not based on path planning requirements to change lanes, if it is determined that the vehicle can change lanes from the current lane to the target lane, execute the safe lane change control method 20, which can avoid driving parallel to large vehicles after the lane change is completed.

[0106] Please refer to Figure 9 , Figure 9 which is a schematic flowchart of the lane change control method 10 of the vehicle shown in another embodiment of the present application. As Figure 9 shown, the lane change control method 10 of the vehicle includes steps 191 to 194.

[0107] Step 191, obtain path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0108] Step 192, if the lane change information is obtained, determine that the vehicle can change lanes from the current lane to the target lane, and if the vehicle drives parallel to a large vehicle after changing lanes to the target lane, generate a prompt to select to change lanes or plan a new path.

[0109] Step 193, in response to the lane change selection information for the driver to select to change lanes, control the vehicle to change lanes.

[0110] Step 194, in response to the path update selection information for the driver to select to plan a new path, control the vehicle to drive according to the new path.

[0111] Thus, when a lane change is required based on path planning and the vehicle is parallel to a large vehicle after changing lanes to the target lane, a prompt to select a lane change or plan a new path is generated. Controlling the vehicle to change lanes according to the driver's instructions or driving along a new path can make the control of the vehicle more in line with the driver's wishes.

[0112] In some embodiments, the lane change control method 10 further includes: obtaining the distance between other vehicles in the reference lane and the target lane, where the reference lane is adjacent to the target lane, the target lane is located between the reference lane and the current lane, and the other vehicle is the vehicle that will be parallel to the vehicle if it changes lanes. According to the distance, the lateral acceleration when the vehicle changes lanes is determined. Among them, different distances result in different lateral accelerations.

[0113] Specifically, if the distance between other vehicles in the reference lane and the target lane is large, the lateral acceleration when the vehicle changes lanes can be appropriately increased to improve the lane change efficiency. If the distance between other vehicles in the reference lane and the target lane is small, the lateral acceleration when the vehicle changes lanes can be appropriately reduced to make the turning path gentle and enhance the sense of security during lane change.

[0114] On the other hand, the present application provides a vehicle Figure 10 which is a structural block diagram of the vehicle shown in an embodiment. As Figure 10 shown, the vehicle 1 includes a sensing system 2, a steering system 4, a driving system 5, and a lane change control system 3. The lane change control system 3 is connected to the sensing system 2, the steering system 4, and the driving system 5. Among them, the sensing system 2 may include one or more of a distance sensor, a vehicle speed sensor, an image sensor, and a pressure sensor, and is used to collect information such as vehicle speed, distance, and image, providing a basis for judging whether the vehicle 1 can change lanes from the current lane to the target lane, providing a basis for whether the vehicle is parallel to a large vehicle after changing lanes to the target lane, and providing a basis for judging the gender of the driver. The steering system 4, the driving system 5, and the lane change control system 3 are connected and used to control the vehicle 1 to drive according to the lane change control system 3.

[0115] Please refer to Figure 10 , Figure 10 which is Figure 9 a structural block diagram of the lane change control system 3 shown. As Figure 9 shown, the lane change control system 3 includes a memory, a processor 31, and a program stored on the memory and executable on the processor. When the processor executes the program, the lane change control method 10 of the vehicle is implemented.

[0116] Please refer to Figure 11 , Figure 11 which is Figure 10 a structural block diagram of the lane change control system 3 shown. In Figure 11In the illustrated embodiment, the lane change control system 3 may include a computer-readable storage medium 32, which may store a program callable by a processor 31 and may include a non-volatile storage medium. In some embodiments, the lane change control system 3 may include a memory 33 and an interface 34. In some embodiments, the lane change control system 3 may also include other hardware according to actual applications.

[0117] On the other hand, this application provides a computer-readable storage medium with a program stored thereon, and when the program is executed, it implements the lane change control method 10 of a vehicle. In some embodiments, it may be in the form of a computer program product implemented on one or more computer-readable storage media 32 (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing program codes. The computer-readable storage medium 32 includes permanent and non-permanent, removable and non-removable media, and any method or technology can be used to implement information storage. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of the computer-readable storage medium 32 include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0118] Those skilled in the art will readily conceive of other embodiments of this application after considering the specification and practicing the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include known common knowledge or conventional technical means in the technical field not disclosed in this application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of this application are pointed out by the following claims.

[0119] It should be understood that this application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is only limited by the appended claims.

Claims

1. A lane-changing control method for a vehicle, characterized in that, Including: Before the vehicle changes lanes, determine whether the vehicle can change lanes from the current lane to the adjacent target lane; If it is determined that the vehicle can change lanes from the current lane to the target lane, execute a reassuring lane change control method, where the reassuring lane change control method includes: Determine whether, after the vehicle changes lanes to the target lane, it will run parallel to a large vehicle; If it is determined that the vehicle will not run parallel to a large vehicle after changing lanes to the target lane, control the vehicle to change lanes to the target lane; The reassuring lane change control method further includes: If it is determined that the vehicle will run parallel to a large vehicle after changing lanes to the target lane, generate a request for whether to control the vehicle to change lanes; In response to the confirmation information of the driver confirming the request, control the vehicle to change lanes to the target lane or drive in the current lane; The lane change control method further includes: Obtain the driving style information of the driver, where the driving style information includes first information indicating that the driving style of the driver is the first style and second information indicating that the driving style is the second style; If the driving style information is the first information, execute the reassuring lane change control method; If the driving style information is the second information, execute an efficient lane change control method, where the efficient lane change control method includes: if it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane.

2. The lane-changing control method of a vehicle according to claim 1, characterized in that The obtaining of the driving style information of the driver includes: Obtain the gender of the driver, where the first information indicates that the driver is female and the second information indicates that the driver is male; or Generate a request asking the driver to select a driving style, where the driving style includes the first style and the second style; Obtain the driving style information generated by the driver selecting the first style or the second style; if the driver selects the first style, generate the first information; if the driver selects the second style, generate the second information.

3. The lane change control method for a vehicle according to claim 1, characterized in that, The lane change control method further includes: If the driving style information is the first information, obtain the first takeover times, where the first takeover times are the number of times the driver takes over to make the vehicle change lanes to the target lane when it is determined that the vehicle runs parallel to a large vehicle after changing lanes to the target lane; If the first takeover times are greater than the set first number limit, control the vehicle to drive according to the efficient lane change control method.

4. The lane-changing control method for a vehicle according to claim 1, characterized in that, The lane change control method further includes: If the driving style information is the second information, obtain the second takeover times, where the second takeover times are the number of times the driver takes over to make the vehicle drive in the current lane when it is determined that the vehicle can change lanes from the current lane to the target lane and runs parallel to a large vehicle after changing lanes; If the second takeover times are greater than the set second number limit, control the vehicle to drive according to the reassuring lane change control method.

5. The lane change control method for a vehicle according to claim 1, characterized in that, Before determining whether the vehicle can change lanes from the current lane to the target lane, the lane change control method further includes: Obtain the first vehicle speed of the vehicle in front on the current lane and the second vehicle speed of the vehicle in front on the target lane; The determination of whether the vehicle can change lanes from the current lane to the target lane includes: If the first vehicle speed is less than the first vehicle speed limit and the second vehicle speed is greater than the first vehicle speed, determine whether the vehicle can change lanes from the current lane to the target lane.

6. The lane change control method for a vehicle according to claim 1, wherein The lane change control method further includes: Obtain path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane; If the lane change information is obtained and it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane; If the path planning information is not the lane change information, in the case of waiting to change lanes, if it is determined that the vehicle can change lanes from the current lane to the target lane, execute the safe lane change control method.

7. The lane change control method for a vehicle according to claim 1, wherein The lane change control method further includes: Obtain path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane; If the lane change information is obtained, it is determined that the vehicle can change lanes from the current lane to the target lane, and after the vehicle changes lanes to the target lane and runs parallel to a large vehicle, generate a prompt for selecting to change lanes or planning a new path; In response to lane change selection information in which the driver selects to change lanes, control the vehicle to change lanes; In response to path update selection information in which the driver selects to plan a new path, control the vehicle to travel according to the new path.

8. The lane change control method for a vehicle according to claim 1, wherein The lane change control method further includes: Obtain the distance between other vehicles in the reference lane and the target lane, where the reference lane is adjacent to the target lane, the target lane is located between the reference lane and the current lane, and the other vehicle is the vehicle that runs parallel to the vehicle after the vehicle changes lanes; According to the distance, determine the lateral acceleration when the vehicle changes lanes; where the lateral acceleration is different for different distances.

9. A vehicle, characterized in that, It includes a sensing system, a steering system, a driving system, and a lane change control system. The lane change control system is connected to the sensing system, the steering system, and the driving system. The lane change control system includes a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, it implements the lane change control method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, A program is stored on the computer-readable storage medium, and when the program is executed, it implements the lane change control method according to any one of claims 1-8.

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