Simulation method and device for vehicle lane changing, storage medium and electronic equipment

Abstract

The invention provides a vehicle lane changing simulation method and device, a storage medium and electronic equipment, and belongs to the field of vehicle simulation. The method comprises the steps that when lane changing evaluation needs to be carried out on a controlled vehicle, if the controlled vehicle is not located in a target operation area, lane changing is carried out on the controlled vehicle based on the vehicle type and lane changing traffic rules of the controlled vehicle; judging whether the controlled vehicle is allowed to change the lane at present, and if so, determining a lane changing target lane; performing lane change income evaluation on the controlled vehicle based on a lane change income evaluation strategy corresponding to the vehicle type and a lane change target lane, if a lane change income evaluation result accords with a first lane change condition, performing lane change safety evaluation on the controlled vehicle based on the lane change target lane, and if a lane change safety evaluation result accords with a second lane change condition, performing lane change safety evaluation on the controlled vehicle based on the lane change target lane. And if yes, vehicle lane changing is executed. By applying the method provided by the invention, the lane changing behavior of the vehicle can be evaluated based on the vehicle type and the traffic rule, so that a lane changing decision is matched with a real scene, and the accuracy of lane changing simulation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle simulation, and in particular to a method and device for simulating vehicle lane changing, a storage medium, and electronic equipment. Background Art

[0002] In operational parks such as container terminals, numerous vehicles are typically used to complete various tasks. Because traffic conditions within the park can affect operational efficiency, simulation of traffic conditions within the park is often necessary to improve the scheduling of operational tasks.

[0003] The simulation of vehicle lane changing is an important part of traffic simulation. Currently, the simulation of vehicle lane changing behavior mainly adopts the simulation method in the field of conventional public transportation to simulate the vehicle's lane changing behavior. That is, for the simulated vehicle, starting from the driver's driving thinking, according to the speed of the vehicle in front, the current vehicle is measured to determine whether it needs to change lanes.

[0004] With the development of autonomous driving technology, unmanned vehicles have been widely used in container terminals and other operational parks to complete tasks. Traffic in these parks is gradually becoming a mixed traffic situation with both unmanned and manned vehicles. Existing lane-changing simulation methods use only the speed of the vehicle ahead as a reference for lane-changing decisions. This makes it difficult to accurately simulate the driving state of the unmanned vehicle and the mixed traffic conditions of unmanned and manned vehicles, resulting in poor lane-changing simulation accuracy. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a method for simulating vehicle lane changing to solve the problem that existing vehicle lane changing simulation methods are difficult to simulate mixed traffic conditions where unmanned vehicles and manned vehicles are mixed, resulting in poor accuracy of vehicle lane changing simulation.

[0006] The embodiment of the present invention further provides a vehicle lane-changing simulation device to ensure the practical implementation and application of the above method.

[0007] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0008] A first aspect of an embodiment of the present invention provides a vehicle lane-changing simulation method, comprising:

[0009] When a lane change evaluation is required for the controlled vehicle, determining whether the controlled vehicle is currently in the target operation area of the operation task;

[0010] If the controlled vehicle is not currently in the target operating area, determining whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules; the vehicle type represents an unmanned vehicle or a manned vehicle;

[0011] If the controlled vehicle is currently allowed to change lanes, determining a lane-changing target lane corresponding to the controlled vehicle;

[0012] Determining a lane change benefit evaluation strategy corresponding to the vehicle type, and performing a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result;

[0013] Determining whether the lane-changing benefit evaluation result meets a preset first lane-changing condition;

[0014] If the lane-changing benefit evaluation result meets the first lane-changing condition, performing a lane-changing safety evaluation on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety evaluation result;

[0015] determining whether the first lane-changing safety assessment result meets a preset second lane-changing condition;

[0016] If the first lane-changing safety assessment result meets the second lane-changing condition, the controlled vehicle is controlled to change from the current lane to the lane-changing target lane.

[0017] A second aspect of an embodiment of the present invention provides a vehicle lane-changing simulation device, comprising:

[0018] A first judgment unit is used to judge whether the controlled vehicle is currently in a target operation area of the operation task when a lane change evaluation is required for the controlled vehicle;

[0019] a second judgment unit, configured to, if the controlled vehicle is not currently in the target operating area, determine whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules; the vehicle type indicating whether the controlled vehicle is an unmanned vehicle or a manned vehicle;

[0020] a lane determination unit, configured to determine a lane change target lane corresponding to the controlled vehicle if the controlled vehicle is currently allowed to change lanes;

[0021] a first evaluation unit, configured to determine a lane change benefit evaluation strategy corresponding to the vehicle type, and perform a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result;

[0022] a third judging unit, configured to judge whether the lane-changing benefit evaluation result meets a preset first lane-changing condition;

[0023] a second evaluation unit, configured to perform a lane-changing safety evaluation on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety evaluation result if the lane-changing benefit evaluation result meets the first lane-changing condition;

[0024] a fourth judgment unit, configured to judge whether the first lane-changing safety assessment result meets a preset second lane-changing condition;

[0025] A lane change control unit is configured to control the controlled vehicle to change from its current lane to the lane change target lane if the first lane change safety assessment result meets the second lane change condition.

[0026] A third aspect of an embodiment of the present invention provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned vehicle lane change simulation method.

[0027] A fourth aspect of an embodiment of the present invention provides an electronic device comprising a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the above-mentioned vehicle lane change simulation method.

[0028] A vehicle lane change simulation method provided based on the above-mentioned embodiment of the present invention includes: when a lane change evaluation is required for a controlled vehicle, determining whether the controlled vehicle is currently in a target operating area of an operation task; if the controlled vehicle is not currently in the target operating area, determining whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane change traffic rules; the vehicle type represents an unmanned vehicle or a manned vehicle; if the controlled vehicle is currently allowed to change lanes, determining a lane change target lane corresponding to the controlled vehicle; determining a lane change benefit evaluation strategy corresponding to the vehicle type, and performing a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result; determining whether the lane change benefit evaluation result meets a preset first lane change condition; if the lane change benefit evaluation result meets the first lane change condition, performing a lane change safety evaluation on the controlled vehicle based on the lane change target lane to obtain a first lane change safety evaluation result; determining whether the first lane change safety evaluation result meets a preset second lane change condition; if the first lane change safety evaluation result meets the second lane change condition, controlling the controlled vehicle to change from its current lane to the lane change target lane. By applying the method provided by the embodiment of the present invention, when simulating campus traffic with mixed traffic of multiple types of vehicles, a lane change benefit evaluation strategy suitable for unmanned vehicles or manned vehicles can be selected based on the vehicle type of the current vehicle, the lane change benefit of the current vehicle's lane change can be evaluated, and the driving safety of the current vehicle's lane change can be evaluated. The vehicle lane change decision can be made based on the lane change benefit evaluation results and the lane change safety evaluation results. For both unmanned vehicles and manned vehicles, the benefits and safety of lane changes can be evaluated by adapting to the corresponding vehicle types, which is conducive to improving the adaptability of lane change decisions in the simulation process to real driving scenarios, and then is conducive to accurately simulating the lane change behavior of vehicles during actual driving, and improving the accuracy of vehicle lane change simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0030] Figure 1 A method flow chart of a vehicle lane-changing simulation method provided by an embodiment of the present invention;

[0031] Figure 2 A brief schematic diagram of a storage yard operation area provided by an embodiment of the present invention;

[0032] Figure 3A brief schematic diagram of a dock surface operation area provided by an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a vehicle lane-changing scenario provided by an embodiment of the present invention;

[0034] Figure 5 Another schematic diagram of a vehicle lane-changing scenario provided by an embodiment of the present invention;

[0035] Figure 6 A schematic structural diagram of a vehicle lane-changing simulation device provided by an embodiment of the present invention;

[0036] Figure 7 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] In this application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0039] The embodiment of the present invention provides a method for simulating vehicle lane change, which can be applied to a traffic simulation system. The execution subject can be a processor of the traffic simulation system. The flow chart of the method is shown in FIG. Figure 1 As shown, including:

[0040] S101: When a lane change evaluation is required for a controlled vehicle, determining whether the controlled vehicle is currently in a target operating area of the operating task;

[0041] The method provided by the embodiment of the present invention can be applied to traffic simulation scenarios in smart ports, for example, to simulate the traffic conditions of intelligent container terminals and simulate the lane-changing behavior of vehicles traveling in the terminal operation park. By simulating the lane-changing behavior of vehicles, the port operation efficiency can be studied to improve the scheduling of port operation tasks and improve the port operation efficiency.

[0042] In the method provided by the embodiment of the present invention, the speed of each vehicle in the simulation scene can be monitored in real time. For each vehicle, if the speed of the vehicle in front of the current vehicle in the current lane is lower than the expected speed of the current vehicle, it can be considered that a lane change evaluation is required for the current vehicle. The current vehicle is used as the controlled vehicle, and a decision is made on whether the controlled vehicle needs to change lanes.

[0043] When it is necessary to evaluate the lane change of the controlled vehicle, the current position and operation task of the controlled vehicle can be obtained. The operation task of the controlled vehicle records the target operation area and the target operation lane. The target operation area refers to the target area of the vehicle's driving task, that is, the operation area where the vehicle's destination is located. The target operation lane is the lane where the vehicle's destination is located. In the terminal operation park, the operation area can be the area where vehicles park and wait for the bridge crane to load and unload containers. It usually includes the yard operation area and the dock surface operation area. Each operation area usually includes several lanes. For example, Figure 2 A simplified schematic diagram of a yard operation area is shown, where Y1 and Y2 are two yards, A1, A2, A3, and A4 are yard bridges, L1 and L2 are two operating lanes, C1, C2, C3, C4, and C5 are vehicles on the operating lanes, and the area indicated by the dotted rectangle of B1 is the yard operation area, which includes the two operating lanes L1 and L2. If a vehicle's operating task is to operate in yard Y1 and its parking position is lane L1 near yard Y1, then B1 is the target operating area for the operating task, and lane L1 in area B1 is the target operating lane for the operating task. For another example, Figure 3 A simplified schematic diagram of a dock surface operation area is shown, where S1 is a ship, Q1 and Q2 are two quay cranes, L1 and L2 are two operation lanes, C1, C2, C3, and C4 are vehicles on the operation lanes, and the area indicated by the dotted rectangular box B2 is the dock surface operation area. If a vehicle's operation task is to operate on quay crane Q1 and its parking position is in lane L1 near quay crane Q1, then B2 is the target operation area for the operation task, and lane L1 in area B2 is the target operation lane for the operation task.

[0044] After obtaining the current position of the controlled vehicle and the work task, the current position of the controlled vehicle can be matched with the location area of the target work area in the work task to determine whether the controlled vehicle is currently in the target work area of the work task. If the current position of the controlled vehicle is within the location area of the target work area, the controlled vehicle is considered to be in the target work area. If the current position of the controlled vehicle is not within the location area of the target work area, the controlled vehicle is considered to be not in the target work area.

[0045] S102: If the controlled vehicle is not currently in the target operating area, determining whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules; the vehicle type indicates whether it is an unmanned vehicle or a manned vehicle;

[0046] In the method provided in the embodiment of the present invention, lane changing traffic rules can be set in advance according to actual needs, which specifically include rules regarding lane changing of unmanned vehicles and rules regarding lane changing of manned vehicles. The content of each rule can specifically include the name of the road where lane changing is prohibited, the lane changing behaviors prohibited on the road where lane changing is prohibited (such as left lane changing and / or right lane changing), the area where lane changing is prohibited, etc. The area where lane changing is prohibited can be a part of the road, such as a part of the area near an intersection.

[0047] In the method provided by the embodiment of the present invention, for each vehicle in the simulation scene, the vehicle type can be pre-configured from the perspective of the vehicle control subject. The vehicle type of the vehicle refers to whether the vehicle is a manned vehicle or an unmanned vehicle, that is, the vehicle type is an unmanned vehicle or a manned vehicle. If the controlled vehicle is not currently in the target operating area, the lane information corresponding to the controlled vehicle where lane changes are prohibited can be obtained from the preset lane change traffic rules based on the vehicle type of the controlled vehicle, such as the name of the road where lane changes are prohibited, the prohibited lane changing behavior, and the road area where lane changes are prohibited. Based on the lane information corresponding to the controlled vehicle where lane changes are prohibited, it is determined whether the controlled vehicle can currently change lanes, that is, whether the controlled vehicle is currently allowed to change lanes.

[0048] S103: If the controlled vehicle is currently allowed to change lanes, determining a target lane for the controlled vehicle to change lanes;

[0049] In the method provided by an embodiment of the present invention, if the controlled vehicle is currently permitted to change lanes, the target lane for the controlled vehicle to change lanes to is determined based on lane-changing traffic rules, and this target lane is used as the target lane for the lane change. In other words, the controlled vehicle is expected to change from its current lane to the target lane for the lane change. Specifically, the lane-changing traffic rules can be combined to determine whether both the left and right lanes of the controlled vehicle's current lane allow lane changes. If both allow lane changes, the left and right lanes can be selected based on the controlled vehicle's destination location, and the lane closer to the controlled vehicle's destination can be selected as the target lane for the lane change. If only one of the left and right lanes allows lane changes, the lane with lane changes is selected as the target lane for the lane change. It will be appreciated that in actual simulation scenarios, the controlled vehicle's current lane may have other lanes on only one side. In this case, it is sufficient to determine whether lane changes are permitted on that side. If so, that side lane is selected as the target lane for the lane change.

[0050] If the controlled vehicle is not allowed to change lanes at present, the current lane change evaluation process can be ended, and the controlled vehicle can continue to drive in the current lane.

[0051] S104: Determine a lane change benefit evaluation strategy corresponding to the vehicle type, and perform a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result;

[0052] In the method provided in an embodiment of the present invention, lane change benefit assessment strategies for unmanned vehicles and manned vehicles can be pre-set based on their respective driving characteristics. The lane change benefit assessment strategy is used to evaluate the benefits of changing lanes from the vehicle's current lane to the target lane. For example, for unmanned vehicles, the lane change benefit can be assessed based on the speed of the vehicle ahead of the controlled vehicle and task information. For manned vehicles, the lane change benefit can be assessed based on the speed of the vehicle ahead and the lane congestion level.

[0053] In the method provided in an embodiment of the present invention, based on the type of the controlled vehicle, a lane change benefit evaluation strategy corresponding to the controlled vehicle type is obtained from various pre-set lane change benefit evaluation strategies. Based on the lane change benefit evaluation strategy corresponding to the controlled vehicle type, the benefit of the controlled vehicle changing from its current lane to the target lane is evaluated to obtain a lane change benefit evaluation result for the controlled vehicle. The lane change benefit evaluation result indicates the degree of lane change benefit of the controlled vehicle changing from its current lane to the target lane.

[0054] S105: Determine whether the lane-changing benefit evaluation result meets a preset first lane-changing condition;

[0055] In the method provided in an embodiment of the present invention, a first lane-changing condition can be pre-set based on a lane-changing benefit evaluation strategy. The first lane-changing condition can define a condition indicating whether the lane-changing benefit meets the lane-changing standard. Based on the content of the first lane-changing condition, it can be determined whether the lane-changing benefit evaluated in the lane-changing benefit evaluation result meets the lane-changing standard.

[0056] For example, the lane-changing benefit evaluation result is specifically an evaluation value of the lane-changing benefit. The larger the evaluation value, the higher the lane-changing benefit. Corresponding lane-changing benefit thresholds are set in advance for unmanned vehicles and manned vehicles respectively. If the controlled vehicle is a manned vehicle, the evaluation value of the lane-changing benefit in the lane-changing benefit evaluation result is compared with the lane-changing benefit threshold corresponding to the manned vehicle. If the evaluation value of the lane-changing benefit is greater than the lane-changing benefit threshold corresponding to the manned vehicle, it is considered that the lane-changing benefit evaluation result meets the first lane-changing condition. If the evaluation value of the lane-changing benefit is not greater than the corresponding lane-changing benefit threshold, it is considered that the lane-changing benefit evaluation result does not meet the first lane-changing condition. Similarly, if the controlled vehicle is an unmanned vehicle, the evaluation value of the lane-changing benefit is compared with the lane-changing benefit threshold corresponding to the unmanned vehicle.

[0057] S106: If the lane-changing benefit evaluation result meets the first lane-changing condition, performing a lane-changing safety evaluation on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety evaluation result;

[0058] In the method provided by an embodiment of the present invention, a lane change safety assessment strategy can be pre-configured based on actual needs to assess the safety of a vehicle's lane change behavior. If the lane change benefit assessment result of the controlled vehicle meets the first lane change condition, the driving safety of the controlled vehicle changing from its current lane to the target lane can be assessed according to the lane change safety assessment strategy, and the assessment result can be used as the first lane change safety assessment result. Specifically, the safety of the controlled vehicle's lane change behavior can be assessed by combining factors such as the controlled vehicle's speed and the speeds of nearby vehicles.

[0059] If the lane-changing benefit evaluation result of the controlled vehicle does not meet the first lane-changing condition, the current lane-changing evaluation process can be terminated, and the controlled vehicle can continue to travel in the current lane.

[0060] S107: Determine whether the first lane-changing safety assessment result meets a preset second lane-changing condition;

[0061] In the method provided in an embodiment of the present invention, a second lane-changing condition can be pre-set based on a lane-changing safety assessment strategy. The second lane-changing condition can define a condition that indicates whether the safety of the vehicle's lane-changing behavior meets the lane-changing standard. Based on the content of the second lane-changing condition, it can be determined whether the lane-changing safety assessed by the first lane-changing safety assessment result meets the lane-changing standard. For example, the lane-changing safety assessment result may specifically include indicator values for multiple safety assessment indicators, and an indicator threshold corresponding to each safety assessment indicator may be pre-set. The second lane-changing condition can be that the indicator value of each safety assessment indicator in the lane-changing safety assessment result is greater than the indicator threshold corresponding to the corresponding safety assessment indicator.

[0062] S108: If the first lane-changing safety assessment result meets the second lane-changing condition, control the controlled vehicle to change from the current lane to the lane-changing target lane.

[0063] In the method provided by an embodiment of the present invention, if the first lane change safety assessment result meets the second lane change condition, a lane change operation is executed, controlling the controlled vehicle to change from its current lane to the target lane. If the first lane change safety assessment result does not meet the second lane change condition, the current lane change assessment process is terminated, allowing the controlled vehicle to continue driving in its current lane.

[0064] By applying the method provided by the embodiment of the present invention, when simulating campus traffic with mixed traffic of multiple types of vehicles, a lane change benefit evaluation strategy suitable for unmanned vehicles or manned vehicles can be selected based on the vehicle type of the current vehicle, the lane change benefit of the current vehicle's lane change can be evaluated, and the driving safety of the current vehicle's lane change can be evaluated. The vehicle lane change decision can be made based on the lane change benefit evaluation results and the lane change safety evaluation results. For both unmanned vehicles and manned vehicles, the benefits and safety of lane changes can be evaluated by adapting to the corresponding vehicle types, which is conducive to improving the adaptability of lane change decisions in the simulation process to real driving scenarios, and then is conducive to accurately simulating the lane change behavior of vehicles during actual driving, and improving the accuracy of vehicle lane change simulation.

[0065] exist Figure 1 Based on the method shown in FIG. 1 , in the method provided in an embodiment of the present invention, the process of determining whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and the preset lane change traffic rules mentioned in step S102 includes:

[0066] Determining prohibited lane change information corresponding to the vehicle type according to the lane change traffic rules; the prohibited lane change information includes each prohibited lane change road, a prohibited lane change behavior corresponding to each prohibited lane change road, and a prohibited lane change area;

[0067] In the method provided by the embodiment of the present invention, based on the vehicle type of the controlled vehicle, roads that restrict lane changing of vehicles of the corresponding type can be obtained from the lane changing traffic rules. The roads that restrict lane changing of vehicles of the corresponding type are called prohibited lane changing roads, and the prohibited lane changing behaviors and prohibited lane changing areas of each prohibited lane changing road are obtained from the lane changing traffic rules, and the above-obtained information is used as prohibited lane changing information.

[0068] Determining the current position of the controlled vehicle;

[0069] Based on the lane change prohibition information, determining whether the current position of the controlled vehicle allows lane change;

[0070] In the method provided by the embodiment of the present invention, the current position of the controlled vehicle can be obtained by collecting the positioning information of the controlled vehicle, and based on the prohibited lane changing behavior and prohibited lane changing area of the prohibited lane changing road in the prohibited lane changing information, it is determined whether the current position of the controlled vehicle allows changing lanes to other lanes, that is, whether the controlled vehicle is currently in a position where it is not allowed to change lanes to any lane.

[0071] If the current position of the controlled vehicle allows lane change, determining whether there is a lane change behavior ahead of the controlled vehicle;

[0072] In the method provided by the embodiment of the present invention, if the current position of the controlled vehicle allows lane changing, that is, in the dimension of lane changing traffic rules, the controlled vehicle can currently change lanes to at least one lane, then it is necessary to determine whether there is lane changing behavior in front of the current controlled vehicle based on global information, that is, to determine whether there is a vehicle changing lanes in a certain area in front of the controlled vehicle.

[0073] If there is no lane-changing behavior ahead of the controlled vehicle, it is determined that the controlled vehicle is currently allowed to change lanes.

[0074] In the method provided by the embodiments of the present invention, if there is no lane change ahead of the controlled vehicle, the controlled vehicle is deemed to be allowed to change lanes, and subsequent processing is performed. If there is a lane change ahead of the controlled vehicle, the lane change benefit and lane change safety assessments may differ from the actual situation, and in this case, the controlled vehicle is deemed not to be allowed to change lanes.

[0075] Based on the method provided by the embodiments of the present invention, different rule constraints can be set for different types of vehicles to evaluate whether lane changes are permitted at the vehicle's current position. This facilitates adapting to the different lane-changing rules for different types of vehicles in real-world traffic scenarios. Secondly, whether a lane change is permitted can be determined based on whether there is currently a lane change ahead of the controlled vehicle. This helps to avoid errors in lane change assessments caused by lane changes ahead, thereby improving the accuracy of lane-changing decisions.

[0076] exist Figure 1 Based on the method shown, in the method provided by the embodiment of the present invention, the vehicle type of the controlled vehicle represents an unmanned vehicle. The process of performing lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane and obtaining the lane change benefit evaluation result mentioned in step S104 includes:

[0077] Determining remaining distance information; the remaining distance information includes a first remaining distance and a second remaining distance; the first remaining distance is the distance the controlled vehicle needs to travel to exit its current lane; the second remaining distance is the distance the controlled vehicle needs to travel to exit the lane if it changes lanes to the lane-changing target lane;

[0078] In the method provided by the embodiments of the present invention, unmanned vehicles can communicate with each other to obtain operational task information of vehicles and equipment such as bridge cranes. When the controlled vehicle is an unmanned vehicle, the lane change benefit of the controlled vehicle can be evaluated in combination with the vehicle's operational task information.

[0079] When evaluating the lane change benefit for a controlled vehicle (an unmanned vehicle), the distance required for the controlled vehicle to exit its current lane can be calculated based on the controlled vehicle's current position and the endpoint of its current lane. This distance is used as the first remaining distance. Based on the controlled vehicle's current position and the target lane, and in accordance with a preset lane change method, the controlled vehicle's position after changing from its current lane to the target lane is estimated. Based on the vehicle's position after the lane change and the endpoint of the target lane, the distance required for the controlled vehicle to exit the target lane after switching to the target lane is calculated. This distance is used as the second remaining distance. The first remaining distance and the second remaining distance are used as the remaining distance information.

[0080] Determine each preceding vehicle corresponding to the controlled vehicle; the each preceding vehicle includes each first vehicle and each second vehicle; the first vehicle is a vehicle located in front of the controlled vehicle in the lane currently located by the controlled vehicle; the second vehicle is a vehicle located in front of the controlled vehicle in the lane change target lane;

[0081] In the method provided by the embodiment of the present invention, relevant information of all vehicles in front of the controlled vehicle in the lane where the controlled vehicle is currently located and the lane where the lane is being changed can be obtained through global broadcast information, specifically including the name of each vehicle, the speed information of each vehicle, and the operation task information. It can be understood that the vehicle in front of the controlled vehicle refers to the vehicle that is located in front of the controlled vehicle in the direction of travel, including vehicles adjacent to the controlled vehicle and also including vehicles in front of the controlled vehicle with other vehicles between it and the controlled vehicle. The vehicle in front of the controlled vehicle in the lane where the controlled vehicle is currently located is called the first vehicle, and the vehicle in front of the controlled vehicle in the lane where the lane is being changed is called the second vehicle. Each first vehicle and each second vehicle is regarded as a respective front vehicle corresponding to the controlled vehicle.

[0082] Obtaining operation task information corresponding to each of the preceding vehicles;

[0083] In the method provided in an embodiment of the present invention, the operation task information of each vehicle in front of the controlled vehicle can be obtained from the global broadcast information. The operation task information may include the operation task status (such as not operated, operated or operating) and operation data (such as the remaining number of box lifting and releasing, bridge crane type, etc.).

[0084] For each of the preceding vehicles, estimating the dwell time of the preceding vehicle based on the operation task information corresponding to the preceding vehicle, and obtaining the estimated dwell time corresponding to the preceding vehicle;

[0085] In the method provided by the embodiment of the present invention, the time each vehicle ahead may stay in the lane can be estimated based on the task information corresponding to each vehicle ahead, thereby obtaining the estimated stay time corresponding to each vehicle ahead. Specifically, the estimated stay time t s The calculation principle can be shown as follows:

[0086] t s =nt w (Formula 1)

[0087] Here, n represents the remaining number of box pick-ups and drop-offs in the preceding vehicle's operation task. This number can be calculated based on the number of boxes on the vehicle, the task status, and the bridge crane operation type. For example, if there are two small boxes on the vehicle, the vehicle has not yet started operation, and the bridge crane operation type of its operation task is non-double grab, then n=2. If the vehicle is currently operating and has already operated one box, then n=1. If there is one large box on the vehicle, or two small boxes, the bridge crane operation type is double grab, and the vehicle has not yet started operation, then n=1. The remaining number of box pick-ups and drop-offs parameter can be recorded in real time in the preceding vehicle's operation task information. w It represents the average operation time of a bridge crane for lifting and lowering boxes. Specifically, the average operation time of each type of bridge crane can be calculated based on the actual historical operation data. Then, based on the current operating bridge crane type of the vehicle ahead, the corresponding pre-calculated average operation time is selected for calculation.

[0088] Determine forward speed information; the forward speed information includes a first average speed and a second average speed; the first average speed is an average speed of each of the first vehicles, and the second average speed is an average speed of each of the second vehicles;

[0089] In the method provided by the embodiment of the present invention, the average speed of all vehicles ahead of the controlled vehicle in its current lane is calculated and used as the first average speed, i.e., the average speed of each first vehicle. The average speed of all vehicles ahead of the controlled vehicle in the lane change target lane is calculated and used as the second average speed, i.e., the average speed of each second vehicle.

[0090] Based on the remaining distance information, the estimated stop time corresponding to each of the leading vehicles, the leading speed information and a preset first benefit evaluation strategy, the lane change benefit corresponding to the controlled vehicle is calculated to obtain a first lane change benefit value, and the first lane change benefit value is used as the lane change benefit evaluation result.

[0091] In the method provided by the embodiment of the present invention, the calculation of the lane change benefit of the unmanned vehicle mainly considers the current traffic efficiency of the lane where the controlled vehicle is currently located and the lane change target lane, as well as the traffic efficiency in the future. The current traffic efficiency takes into account the average speed of the vehicles in front of the controlled vehicle. The traffic efficiency in the future mainly considers the number of non-operating vehicles in front of the controlled vehicle, the required operation time, the number of vehicles in operation, the remaining operation time, and the lane change time of the controlled vehicle. According to actual needs, based on the above considerations, the benefit evaluation strategy of the unmanned vehicle, that is, the first benefit evaluation strategy, can be set. During the simulation process, the current lane change benefit of the controlled vehicle can be calculated based on the remaining distance information, the estimated dwell time of each vehicle in front, the front speed information and the preset first benefit evaluation strategy, and the calculated lane change benefit value is used as the first lane change benefit value, that is, the current lane change benefit evaluation result.

[0092] For example, an evaluation value representing the current traffic efficiency of the current lane can be calculated based on the first remaining distance and the first average speed. An evaluation value representing the current traffic efficiency of the lane change target lane can be calculated based on the second remaining distance and the second average speed. An evaluation value representing the future traffic efficiency of the current lane can be calculated based on the estimated dwell time of each first vehicle. An evaluation value representing the future traffic efficiency of the lane change target lane can be calculated based on the estimated dwell time of each second vehicle. The planned lane change time of the controlled vehicle can be used as an evaluation value. The planned lane change time can be set according to actual needs. The above evaluation values are weighted and summed, and the weighted sum result is used as the lane change benefit value. Specifically, the lane change benefit E1 (i.e., the first lane change benefit value) of the unmanned vehicle can be calculated as follows:

[0093] (Equation 2)

[0094] Among them, s1 represents the distance the controlled vehicle needs to travel out of the current lane (i.e., the first remaining distance), v a1 represents the average speed of all vehicles in front of the controlled vehicle in the current lane (i.e., the first average speed), m1 is the total number of vehicles in front of the controlled vehicle in the current lane (i.e., the total number of first vehicles), and t si is the estimated stay time of the i-th vehicle in front of the controlled vehicle in the current lane (i.e., the estimated stay time of the first vehicle i), s2 represents the distance the controlled vehicle needs to travel out of the lane change target lane if it changes to the lane change target lane (i.e., the second remaining distance), and v a2 represents the average speed of all vehicles in front of the controlled vehicle in the lane change target lane (i.e., the second average speed), m2 is the total number of vehicles in front of the controlled vehicle in the lane change target lane (i.e., the total number of second vehicles), and t sjrepresents the estimated stay time of the jth vehicle in front of the controlled vehicle in the lane change target lane (i.e., the estimated stay time of the second vehicle j), t LC represents the planned lane-changing time of the controlled vehicle. k1, k2, k3, k4, and k5 are pre-set weight coefficients.

[0095] In the method provided in the embodiment of the present invention, a lane change benefit threshold E1' can be set. When determining whether the lane change benefit evaluation result meets the first lane change condition, E1 can be compared with the lane change benefit threshold E1'. When E1 is greater than the lane change benefit threshold E1', it is considered that the first lane change condition is met.

[0096] Based on the method provided in the embodiments of the present invention, for unmanned vehicles, based on their ability to obtain real-time information about other vehicles, combined with the average speed and task information of the vehicle ahead, a comprehensive evaluation of the traffic efficiency of the current lane and the target lane for lane change can be performed. This is conducive to obtaining lane change benefit evaluation results that match the actual driving decisions of the unmanned vehicle, thereby improving the accuracy of lane change simulation.

[0097] exist Figure 1 Based on the method shown in FIG. 1 , in the method provided in an embodiment of the present invention, the vehicle type of the controlled vehicle represents a manned vehicle. The process of performing lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane and obtaining the lane change benefit evaluation result mentioned in step S104 includes:

[0098] Determining a first reference speed and a second reference speed; the first reference speed being the speed of a vehicle located in front of and adjacent to the controlled vehicle in the lane currently occupied by the controlled vehicle; and the second reference speed being the speed of a vehicle located in front of and adjacent to the controlled vehicle in the lane-changing target lane;

[0099] In the method provided by the embodiment of the present invention, under normal circumstances, a manned vehicle cannot obtain accurate mission information and vehicle motion status of all vehicles in front. From the perspective of the driver, the driver will observe the speed of the vehicle in front and the lane congestion to decide whether to change lanes. When evaluating the lane change benefit of a controlled vehicle that is a manned vehicle, the vehicle speed of the vehicle in front of the controlled vehicle, which is adjacent to the controlled vehicle in the lane where the controlled vehicle is currently located, can be obtained through global broadcast information. This vehicle speed is used as the first reference speed. The vehicle speed of the vehicle in front of the controlled vehicle, which is adjacent to the controlled vehicle in the target lane of the lane change, is obtained and used as the second reference speed.

[0100] Determine a first total number of vehicles and a second total number of vehicles; the first total number of vehicles is the total number of all vehicles located ahead of the controlled vehicle in the lane where the controlled vehicle is currently located; the second total number of vehicles is the total number of all vehicles located ahead of the controlled vehicle in the lane where the lane is changed;

[0101] In the method provided in an embodiment of the present invention, the total number of all vehicles in the lane where the controlled vehicle is currently located and in front of the controlled vehicle can be counted through global broadcast information, and the total number of vehicles can be used as the first total number of vehicles. The total number of all vehicles in front of the controlled vehicle in the lane change target lane can be counted, and the total number of vehicles can be used as the second total number of vehicles.

[0102] Based on the first reference speed, the second reference speed, the first total number of vehicles, the second total number of vehicles, and a preset second benefit evaluation strategy, the lane change benefit corresponding to the controlled vehicle is calculated to obtain a second lane change benefit value, and the second lane change benefit value is used as the lane change benefit evaluation result.

[0103] In the method provided in this embodiment of the present invention, lane change benefit calculation for a manned vehicle primarily considers the speed of the preceding vehicle and lane congestion. Based on these considerations, a benefit evaluation strategy for the manned vehicle, namely, a second benefit evaluation strategy, can be configured according to actual needs. During simulation, the current lane change benefit of the controlled vehicle can be calculated based on the first reference speed, the second reference speed, the first total number of vehicles, and the second total number of vehicles. The calculated lane change benefit value is used as the second lane change benefit value, namely, the current lane change benefit evaluation result.

[0104] For example, an evaluation value representing the comparison of the speed of the vehicle ahead in the current lane and the target lane can be calculated based on the first reference speed and the second reference speed. An evaluation value representing the comparison of the congestion level ahead in the current lane and the target lane can be calculated based on the first total number of vehicles and the second total number of vehicles. A driving style factor representing the driver's driving style can be used as an evaluation value. The driving style factor can be set according to actual simulation requirements. The above evaluation values are weighted and summed, and the weighted sum result is used as the lane change benefit value. Specifically, the lane change benefit E2 (i.e., the second lane change benefit value) of a manned vehicle can be calculated as follows:

[0105] (Formula 3)

[0106] Where v1 represents the vehicle speed of the vehicle in front of and adjacent to the controlled vehicle in the lane where the controlled vehicle is currently located (i.e., the first reference speed), v2 represents the vehicle speed of the vehicle in front of and adjacent to the controlled vehicle in the lane change target lane (i.e., the second reference speed), and vlimit Indicates the lane speed limit of the current road. The speed limit of each lane can be set in advance according to actual needs. During the lane change benefit evaluation process, the corresponding lane speed limit can be obtained based on the road name of the current road. m1 represents the number of all vehicles in front of the controlled vehicle in the current lane (i.e., the total number of first vehicles), m2 represents the number of all vehicles in front of the controlled vehicle in the lane change target (i.e., the total number of second vehicles), and m max This parameter represents the maximum number of vehicles a lane can accommodate, that is, the total number of vehicles a lane can accommodate. This parameter can be set based on actual requirements. ε represents the driving style factor, with a value range of [0,1]. A larger value indicates a more aggressive driving style. This parameter can be set based on actual simulation requirements. w1, w2, and w3 are pre-set weight coefficients.

[0107] In the method provided in the embodiment of the present invention, a lane change benefit threshold E2' can be set. When determining whether the lane change benefit evaluation result meets the first lane change condition, E2 can be compared with the lane change benefit threshold E2'. When E2 is greater than the lane change benefit threshold E2', it is considered that the first lane change condition is met.

[0108] Based on the method provided in the embodiments of the present invention, for manned vehicles, the lane change benefit can be evaluated based on the characteristics of the human-driven vehicle, combined with the vehicle speed and total number of vehicles in front, and by comparing the speed and congestion level of the vehicles in front in different lanes. This is conducive to obtaining lane change benefit evaluation results that match the actual driving decisions of the manned vehicle, thereby improving the accuracy of the lane change simulation.

[0109] exist Figure 1 Based on the method shown, in the method provided by the embodiment of the present invention, the process of performing a lane change safety assessment on the controlled vehicle based on the lane change target lane and obtaining a first lane change safety assessment result mentioned in step S106 includes:

[0110] Determine a first target vehicle, a second target vehicle, and a third target vehicle; the first target vehicle is a vehicle located in front of and adjacent to the controlled vehicle in the lane currently located by the controlled vehicle; the second target vehicle is a vehicle located in front of and adjacent to the controlled vehicle in the lane-changing target lane; and the third target vehicle is a vehicle located behind and adjacent to the controlled vehicle in the lane-changing target lane.

[0111] In the method provided by an embodiment of the present invention, a vehicle in front of the controlled vehicle, adjacent to the controlled vehicle in its current lane, can be determined based on global broadcast information, and the vehicle in front of the controlled vehicle can be used as the first target vehicle. Furthermore, the vehicle in front of and behind the controlled vehicle in the lane change target lane can be determined based on global broadcast information, and the vehicle in front of the controlled vehicle can be used as the second target vehicle, and the vehicle behind the controlled vehicle can be used as the third target vehicle.

[0112] Evaluate the lane-changing safety between the controlled vehicle and the first target vehicle according to a preset first safety evaluation strategy to obtain a first evaluation index;

[0113] In the method provided by the embodiment of the present invention, a first safety assessment strategy can be set in advance based on the relative motion relationship between the lane-changing vehicle and its adjacent front vehicle (the vehicle in the current lane) when the vehicle changes lanes, so as to evaluate whether the lane-changing behavior of the lane-changing vehicle and the driving behavior of the vehicle in front of it are safe when the lane-changing vehicle changes lanes. When evaluating the lane-changing safety assessment, the driving safety between the controlled vehicle and the first target vehicle during the lane-changing process is evaluated according to the first safety assessment strategy, and the index value obtained by the evaluation is used as the first evaluation index. Specifically, the lane-changing driving safety can be evaluated based on factors such as the speed information of the controlled vehicle and the speed information of the first target vehicle. For example, the first evaluation index S1 can be calculated based on the following method:

[0114] (Formula 4)

[0115] Among them, d ef Indicates the distance between the controlled vehicle and the first target vehicle. This distance can be calculated using global broadcast information. Specifically, the coordinates of the center points of the first target vehicle and the controlled vehicle can be queried, and the distance between these two coordinates can be calculated. This distance is used as the distance between the controlled vehicle and the first target vehicle. f represents the vehicle speed of the first target vehicle, a f1 represents the maximum deceleration of the first target vehicle, d x represents the planned lane change longitudinal displacement, v e represents the current speed of the controlled vehicle, a1 represents the common deceleration of the controlled vehicle, v lcc represents the vehicle speed of the controlled vehicle during the lane change process, t r represents the reaction time of the controlled vehicle, l represents the length of the controlled vehicle, s gap Indicates parking distance. f and v e It can be obtained through real-time query of global broadcast information. f1 d x 、a1、v lcc , tr , l and s gap Parameters such as the speed limit and the speed of the vehicle can be pre-set according to actual needs. Specifically, the parameter values that conform to the actual driving scenario can be set in combination with the vehicle type of the controlled vehicle and the vehicle type of the first target vehicle. That is, different parameter values can be set according to the situation where the controlled vehicle and the first target vehicle belong to the corresponding vehicle type (manned vehicle or unmanned vehicle).

[0116] In the method provided in an embodiment of the present invention, a first indicator threshold can be set in advance according to actual needs. For example, the first indicator threshold is set to 0. When the first evaluation indicator is greater than the first indicator threshold, it is considered that when the controlled vehicle changes lanes, the relative movement between the controlled vehicle and the adjacent vehicle in front in the current lane is safe.

[0117] It should be noted that in a specific application scenario, there may be no vehicle in front of the controlled vehicle in the lane where the controlled vehicle is currently located. At this time, the first evaluation indicator can be configured as a pre-set indicator value, for example, a fixed value of 1. This indicator value indicates that when the controlled vehicle changes lanes, the relative movement between the controlled vehicle and the adjacent vehicle in front of it in the current lane is safe.

[0118] Evaluate the lane-changing safety between the controlled vehicle and the second target vehicle according to a preset second safety evaluation strategy to obtain a second evaluation index;

[0119] In the method provided by the embodiment of the present invention, a second safety assessment strategy can be set in advance based on the relative motion relationship between the lane-changing vehicle and the adjacent vehicle in front of it on the lane-changing target lane when the vehicle changes lanes, so as to assess whether the lane-changing behavior of the lane-changing vehicle and the driving behavior of the vehicle in front of it on the lane-changing target lane are safe when the lane-changing vehicle changes lanes. When evaluating the safety of lane changing, the driving safety between the controlled vehicle and the second target vehicle during the lane changing process is evaluated according to the second safety assessment strategy, and the index value obtained by the evaluation is used as the second evaluation index. Specifically, the lane-changing driving safety can be evaluated based on factors such as the speed information of the controlled vehicle after changing lanes and the speed information of the second target vehicle. For example, the second evaluation index S2 can be calculated based on the following method:

[0120] (Formula 5)

[0121] Among them, d of Indicates the distance between the controlled vehicle and the second target vehicle in the lane direction. The coordinates of the center point of the controlled vehicle and the center point of the second target vehicle can be obtained, the distance between the two center point coordinates can be calculated, and the projection distance of the distance in the lane centerline direction can be solved. The projection distance is used as the distance between the controlled vehicle and the second target vehicle in the lane direction. ofIndicates the vehicle speed of the second target vehicle, which can be obtained through real-time query of global broadcast information. of1 represents the maximum deceleration of the second target vehicle, v lca Indicates the vehicle speed of the controlled vehicle after lane change. a of1 and v lca It can be configured in advance according to actual needs, and the corresponding parameter values can be set according to the vehicle type. x 、a1、v lcc , t r , l and s gap The parameters have the same meanings as those in Formula 4 and will not be described here.

[0122] In the method provided in an embodiment of the present invention, a second indicator threshold can be set in advance according to actual needs. For example, the second indicator threshold is set to 0. When the second evaluation indicator is greater than the second indicator threshold, it is considered that when the controlled vehicle changes lanes, the relative movement between the controlled vehicle and the adjacent vehicle in front in the lane change target lane is safe.

[0123] It should be noted that in specific application scenarios, there may be no vehicle in front of the controlled vehicle in the lane change target lane. In this case, the second evaluation indicator can be configured as a pre-set indicator value, for example, a fixed value of 1. This indicator value indicates that when the controlled vehicle changes lanes, the relative movement between the controlled vehicle and the adjacent vehicle in front of it in the lane change target lane is safe.

[0124] Evaluate the lane-changing safety between the controlled vehicle and the third target vehicle according to a preset third safety evaluation strategy to obtain a third evaluation index;

[0125] In the method provided by the embodiment of the present invention, a third safety assessment strategy can be set in advance based on the relative motion relationship between the lane-changing vehicle and the rear adjacent vehicle in the lane-changing target lane when the vehicle changes lanes, so as to assess whether the lane-changing behavior of the lane-changing vehicle and the driving behavior of the vehicle behind it in the lane-changing target lane are safe when the lane-changing vehicle changes lanes. When evaluating the safety of lane changing, the driving safety between the controlled vehicle and the third target vehicle during the lane changing process is evaluated according to the third safety assessment strategy, and the index value obtained by the evaluation is used as the third evaluation index. Specifically, the lane-changing driving safety can be evaluated based on the speed information of the third target vehicle. For example, the third evaluation index S3 can be calculated based on the following method:

[0126] (Equation 6)

[0127] Among them, d orIndicates the distance between the controlled vehicle and the third target vehicle in the lane direction. The coordinates of the center points of the controlled vehicle and the third target vehicle can be obtained, the distance between the two center coordinates can be calculated, and the projection distance of the distance in the lane centerline direction can be solved. The projection distance is used as the distance between the controlled vehicle and the third target vehicle in the lane direction. or Indicates the vehicle speed of the third target vehicle, which can be obtained through real-time query of global broadcast information. or represents the reaction time of the third target vehicle, a or1 represents the common deceleration of the third target vehicle, t or and a or1 It can be set in advance according to actual needs, and the corresponding parameter value can be set according to the vehicle type of the third target vehicle. x , l and s gap The parameters have the same meanings as those in Formula 4 and will not be described here.

[0128] In the method provided in an embodiment of the present invention, a third indicator threshold can be set in advance according to actual needs. For example, the third indicator threshold is set to 0. When the third evaluation indicator is greater than the third indicator threshold, it is considered that when the controlled vehicle changes lanes, the relative movement between the controlled vehicle and the adjacent vehicle behind in the lane change target lane is safe.

[0129] It should be noted that in specific application scenarios, there may be no vehicle behind the controlled vehicle in the lane change target lane. In this case, the third evaluation indicator can be configured as a pre-set indicator value, for example, a fixed value of 1. This indicator value indicates that when the controlled vehicle changes lanes, the relative movement between the controlled vehicle and the adjacent vehicle behind it in the lane change target lane is safe.

[0130] The first evaluation index, the second evaluation index, and the third evaluation index are used as the first lane-changing safety evaluation result.

[0131] In the method provided by the embodiment of the present invention, the first evaluation index, the second evaluation index, and the third evaluation index are used as the first lane change safety evaluation result. That is, the first lane change safety evaluation result represents the driving safety between the controlled vehicle and the front adjacent vehicle in the current lane and the front and rear adjacent vehicles in the lane change target lane during the lane change process. In order to better illustrate the method provided by the embodiment of the present invention, Figure 4A schematic diagram of a lane-changing scenario is shown, where C1, C2, C3, C4, and C5 represent vehicles on two lanes, respectively. The vehicle types of C1, C4, and C5 are unmanned vehicles, and the vehicle types of C2 and C3 are manned vehicles. C1 is the controlled vehicle, C1' is the planned lane-changing position, C5 is the front vehicle adjacent to the controlled vehicle in the current lane (i.e., the first target vehicle), C3 is the front vehicle adjacent to the controlled vehicle in the target lane for lane change (i.e., the second target vehicle), and C2 is the rear vehicle adjacent to the controlled vehicle in the target lane for lane change (i.e., the third target vehicle). When evaluating the lane-changing safety of the controlled vehicle, the various evaluation indicators can be calculated according to the methods shown in Equations 4 to 6 above. Figure 4 In, d x The indicated distance is the planned lane change longitudinal displacement mentioned in the above formula, d ef That is the distance between the controlled vehicle and the first target vehicle, d of That is, the distance between the controlled vehicle and the second target vehicle in the lane direction, d or That is, the distance between the controlled vehicle and the third target vehicle in the lane direction.

[0132] In the method provided by an embodiment of the present invention, when judging whether the first lane change safety assessment result meets the second lane change condition, it is possible to judge whether the lane change behavior of the controlled vehicle and the driving behavior of the corresponding front and rear vehicles are safe based on various assessment indicators. If the lane change behavior of the controlled vehicle and the driving behavior of the corresponding front and rear vehicles are both safe, then it is considered that the second lane change condition is met. Specifically, each assessment indicator can be compared with the corresponding indicator threshold to achieve judgment. For example, if the first assessment indicator is greater than the preset first indicator threshold, the second assessment indicator is greater than the preset second indicator threshold, and the third assessment indicator is greater than the preset third indicator threshold, then it is considered that the first lane change safety assessment result meets the second lane change condition. If there is at least one assessment indicator that is not greater than the corresponding indicator threshold, then it is considered that the first lane change safety assessment result does not meet the second lane change condition.

[0133] Based on the method provided in the embodiment of the present invention, the lane-changing safety of the controlled vehicle and the adjacent vehicle in front of its current lane, as well as the adjacent vehicles in front and behind the target lane, can be evaluated respectively. This allows for a multi-dimensional assessment of the behavioral risks brought about by the lane-changing behavior of the controlled vehicle, which is beneficial to improving the accuracy of the lane-changing safety assessment and, in turn, to improving the accuracy of the lane-changing decision.

[0134] exist Figure 1 On the basis of the method shown, the method provided in the embodiment of the present invention further includes:

[0135] If the controlled vehicle is currently in the target operation area, determining whether the controlled vehicle is currently in the target operation lane of the operation task;

[0136] In the method provided by an embodiment of the present invention, if the controlled vehicle is currently in the target operating area, the controlled vehicle's current lane is determined, and the target operating lane (i.e., the lane at the controlled vehicle's destination) is obtained from the controlled vehicle's operating task. The controlled vehicle's current lane is compared with the target operating lane to determine whether the controlled vehicle is currently in the target operating lane.

[0137] If the controlled vehicle is not currently in the target operating lane, performing a lane change safety assessment on the controlled vehicle to obtain a second lane change safety assessment result;

[0138] In the method provided by the embodiment of the present invention, if the controlled vehicle is not currently in the target operating lane, it is deemed that the current lane-changing benefit of the controlled vehicle meets the lane-changing standard, and the lane-changing safety assessment can be performed directly. The target operating lane is used as the target lane for lane changing. If the target operating lane is on the left side of the current lane, it is necessary to change lanes to the left. If the target operating lane is on the right side of the current lane, it is necessary to change lanes to the right. Based on this, the lane-changing safety assessment of the controlled vehicle is performed, and the current assessment result is used as the second lane-changing safety assessment result. The method of performing lane-changing safety assessment on the controlled vehicle is the same as Figure 1 The manner of performing lane change safety assessment on the controlled vehicle in step S106 of the method shown is the same, and reference may be made to the description of step S106 in the previous embodiment, which will not be repeated here.

[0139] If the controlled vehicle is currently in the target operating lane, the current lane change evaluation process can be ended, and the controlled vehicle can continue to travel in the current lane.

[0140] determining whether the second lane-changing safety assessment result meets the second lane-changing condition;

[0141] In the method provided by the embodiment of the present invention, it is possible to determine whether the lane changing safety evaluated by the second lane changing safety evaluation result meets the lane changing standard based on the condition content of the second lane changing condition. Figure 1 The method for determining whether the first lane-changing safety assessment result meets the second lane-changing condition in step S107 of the method shown is the same as that in step S107 of the previous embodiment, and will not be repeated here.

[0142] If the second lane-changing safety assessment result does not meet the second lane-changing condition, determining a lane-changing waiting position corresponding to the controlled vehicle;

[0143] In the method provided by an embodiment of the present invention, if the second lane change safety assessment result does not meet the second lane change condition, a lane change waiting position can be determined in the lane currently occupied by the controlled vehicle based on the lane change behavior of the controlled vehicle. Specifically, a preset planned lane change longitudinal distance and lane change adjustment distance can be obtained, and the lane change preparation distance of the controlled vehicle can be calculated. The planned lane change longitudinal distance, lane change adjustment distance, and lane change preparation distance are summed, and the summed result is used as the lane change waiting distance. The position in the current lane that is away from the lane change target position (i.e., the end position of the lane change behavior) in the driving direction and the lane change waiting position is used as the lane change waiting position. For example, Figure 5 The following diagram shows a lane-changing scenario, where C1 represents the controlled vehicle. The controlled vehicle is currently in lane L1 and needs to change lanes to lane L2. The target lane-changing position is position C1´´ in lane L2. That is, when C1 changes lanes to lane L2, it must be at position C1´´ in lane L2 upon completion. Because lane space in lane L2 is currently occupied by other vehicles, lane-changing is unsafe. Therefore, a lane-changing waiting position C´ must be found in lane L1, and vehicle C1 must first travel to that position. The distance between the lane-changing waiting position C´ and the target lane-changing position C´´ is d1 (the lane-changing waiting distance mentioned above). d1 can be calculated as follows:

[0144] d1=d x +d p +d a (Equation 7)

[0145] Among them, d x Indicates the planned lane change longitudinal distance, which is a value preset based on actual needs. p Indicates the lane change preparation distance, which is the distance the vehicle travels when accelerating from speed 0 to the lane change planning starting speed. a Indicates the lane change adjustment distance. This distance is taken into consideration that the vehicle may need to make fine adjustments when reaching the exact target position, and a certain amount of space must be left. This distance can be set in advance based on experience.

[0146] Lane change preparation distance d p The calculation method of can be shown as follows:

[0147] (Equation 8)

[0148] Among them, v p It represents the lane change planning starting speed of the controlled vehicle, and a represents the common acceleration of the controlled vehicle. These two parameters can be set in advance according to actual needs.

[0149] The controlled vehicle is controlled to travel to the lane-changing waiting position to wait for a lane-changing operation.

[0150] In the method provided by an embodiment of the present invention, when the second lane-changing safety assessment result does not meet the second lane-changing condition, the controlled vehicle can be first controlled to travel to the lane-changing waiting position. During this process, the lane-changing safety assessment of the controlled vehicle can be continuously performed simultaneously. If the lane-changing safety assessment result that meets the second lane-changing condition is obtained, the controlled vehicle can be controlled to change lanes without continuing to travel to the lane-changing waiting position. If the lane-changing safety assessment result that meets the second lane-changing condition is not obtained during the driving process, the controlled vehicle is driven to the lane-changing waiting position to wait for the lane-changing operation. When the controlled vehicle stays at the lane-changing waiting position, the lane-changing safety of the controlled vehicle can be continuously assessed. When the lane-changing safety assessment result that meets the second lane-changing condition is obtained, the controlled vehicle is controlled to change lanes to the target operating lane.

[0151] Based on the method provided by the embodiment of the present invention, when the controlled vehicle is in the target operating area, the target operating lane can be used as the target of the controlled vehicle, so that the controlled vehicle changes lanes to the target operating lane, so that the controlled vehicle can perform the operating task, and the lane changing decision of the controlled vehicle meets the operating requirements in the real scene, which is conducive to improving the accuracy of the vehicle lane change simulation.

[0152] On the basis of the method provided in the above embodiment, the method provided in the embodiment of the present invention further includes:

[0153] If the second lane-changing safety assessment result meets the second lane-changing condition, the controlled vehicle is controlled to change from the current lane to the target operating lane.

[0154] In the method provided by an embodiment of the present invention, if the second lane-changing safety assessment result of the controlled vehicle meets the second lane-changing condition, it indicates that the safety of the controlled vehicle's current lane-changing behavior meets the safety standard, and the controlled vehicle can be controlled to change lanes to the target operating lane.

[0155] To better illustrate the method provided by the embodiments of the present invention, based on the methods provided in the previous embodiments and in combination with actual application scenarios, the embodiments of the present invention provide another vehicle lane change simulation method. The method provided by the embodiments of the present invention is applied to ports. Port container terminals typically have unmanned vehicles and manned vehicles operating within the park, as well as external vehicles. The following is a brief description of the lane change simulation process provided by the embodiments of the present invention.

[0156] First, lane-changing traffic rules are configured based on actual needs, restricting lane-changing behavior for different types of vehicles. To improve overall operational efficiency and safety, ports typically establish internal vehicle traffic rules, such as prohibiting lane changes in certain sections of road. These rules may be adjusted based on port road planning or traffic conditions. By flexibly changing traffic rules, lane-changing behavior under different traffic regulations can be simulated. During lane-changing simulations, each vehicle's speed and the speed of the vehicle ahead are monitored in real time. When the speed of the vehicle ahead of the current vehicle is detected to be lower than the current vehicle's desired speed, a lane-changing evaluation can be performed for the current vehicle. The current vehicle's lane-changing target, i.e., the lane to which it should change, is determined based on the current vehicle's position, the target work area of the task, and the lane-changing traffic rules. If the speed of the vehicle ahead of the current vehicle is lower than the current vehicle's desired speed, a lane-changing evaluation can be performed at each simulation step, which can be set to 0.1 seconds.

[0157] During the lane change assessment process, the lane change benefit calculation method can be selected based on the lane change target and the current vehicle type. The lane change benefit for autonomous vehicles can be assessed based on factors such as the progress and motion state of the preceding vehicle. For manned vehicles, the lane change benefit can be assessed based on the speed of the preceding vehicle and lane congestion. If the lane change benefit meets predetermined conditions, the lane change safety is calculated based on the motion state of the preceding vehicle in the current lane and the motion states of the preceding and following vehicles in the target lane. If the lane change benefit meets the predetermined conditions and the lane change is deemed safe, the current vehicle is controlled to execute the lane change.

[0158] Based on the method provided by the embodiment of the present invention, it supports the flexible setting of special traffic rules in ports, supports the setting of lane change parameters for different types of vehicles, and improves the versatility of the simulation. During the simulation process, the vehicle's dwell time can be estimated in combination with the operation progress of the vehicle in front of the current vehicle, so that the efficiency estimation before and after the vehicle lane change is more accurate. In the lane change simulation process, according to the different lane change characteristics of manned vehicles and unmanned vehicles, the evaluation method of lane change benefits is distinguished, and the difference in lane change in mixed flow scenarios between unmanned vehicles and manned vehicles is taken into account, which improves the accuracy of lane change simulation as a whole, is conducive to the study of lane change behavior in ports, and improves production scheduling strategies. In the lane change decision-making scenario or vehicle scheduling scenario of unmanned vehicles in ports, the vehicle control can also be performed with reference to the method principle provided by the embodiment of the present invention to improve vehicle driving efficiency.

[0159] and Figure 1 Corresponding to the vehicle lane-changing simulation method shown in FIG, an embodiment of the present invention further provides a vehicle lane-changing simulation device for Figure 1 The specific implementation of the method shown in is shown in the structural diagram. Figure 6Shown, including:

[0160] The first judgment unit 201 is used to judge whether the controlled vehicle is currently in the target operation area of the operation task when a lane change evaluation is required for the controlled vehicle;

[0161] The second judgment unit 202 is configured to determine whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules if the controlled vehicle is not currently in the target operating area; the vehicle type represents an unmanned vehicle or a manned vehicle;

[0162] a lane determination unit 203, configured to determine a lane change target lane corresponding to the controlled vehicle if the controlled vehicle is currently allowed to change lanes;

[0163] A first evaluation unit 204 is configured to determine a lane change benefit evaluation strategy corresponding to the vehicle type, and perform a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result;

[0164] The third judgment unit 205 is used to judge whether the lane-changing benefit evaluation result meets the preset first lane-changing condition;

[0165] A second evaluation unit 206 is configured to perform a lane-changing safety evaluation on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety evaluation result if the lane-changing benefit evaluation result meets the first lane-changing condition;

[0166] A fourth judgment unit 207 is configured to judge whether the first lane-changing safety assessment result meets a preset second lane-changing condition;

[0167] The lane change control unit 208 is configured to control the controlled vehicle to change from the current lane to the lane change target lane if the first lane change safety assessment result meets the second lane change condition.

[0168] By applying the device provided by the embodiment of the present invention, when simulating campus traffic with mixed traffic of multiple types of vehicles, a lane change benefit evaluation strategy suitable for unmanned vehicles or manned vehicles can be selected based on the vehicle type of the current vehicle, the lane change benefit of the current vehicle's lane change can be evaluated, and the driving safety of the current vehicle's lane change can be evaluated. The vehicle lane change decision can be made based on the lane change benefit evaluation results and the lane change safety evaluation results. For both unmanned vehicles and manned vehicles, the benefits and safety of lane changes can be evaluated by adapting to the corresponding vehicle types, which is conducive to improving the adaptability of lane change decisions in the simulation process to real driving scenarios, and then is conducive to accurately simulating the lane change behavior of vehicles during actual driving, and improving the accuracy of vehicle lane change simulation.

[0169] exist Figure 6 Based on the device shown, the device provided by the embodiment of the present invention can be further expanded to include multiple units. The functions of each unit can be found in the description of the various embodiments provided in the above-mentioned simulation method for vehicle lane changing, and no further examples will be given here.

[0170] An embodiment of the present invention further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned vehicle lane change simulation method.

[0171] The embodiment of the present invention further provides an electronic device, the structural diagram of which is shown in FIG. Figure 7 As shown, the system specifically includes a memory 301 and one or more instructions 302, wherein the one or more instructions 302 are stored in the memory 301 and are configured to be executed by one or more processors 303 to perform the following operations:

[0172] When a lane change evaluation is required for the controlled vehicle, determining whether the controlled vehicle is currently in the target operation area of the operation task;

[0173] If the controlled vehicle is not currently in the target operating area, determining whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules; the vehicle type represents an unmanned vehicle or a manned vehicle;

[0174] If the controlled vehicle is currently allowed to change lanes, determining a lane-changing target lane corresponding to the controlled vehicle;

[0175] Determining a lane change benefit evaluation strategy corresponding to the vehicle type, and performing a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result;

[0176] Determining whether the lane-changing benefit evaluation result meets a preset first lane-changing condition;

[0177] If the lane-changing benefit evaluation result meets the first lane-changing condition, performing a lane-changing safety evaluation on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety evaluation result;

[0178] determining whether the first lane-changing safety assessment result meets a preset second lane-changing condition;

[0179] If the first lane-changing safety assessment result meets the second lane-changing condition, the controlled vehicle is controlled to change from the current lane to the lane-changing target lane.

[0180] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0181] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0182] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle lane-changing simulation method, characterized in that: include: When a lane change evaluation is required for the controlled vehicle, determining whether the controlled vehicle is currently in the target operation area of the operation task; If the controlled vehicle is not currently in the target operating area, determining whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules; the vehicle type represents an unmanned vehicle or a manned vehicle; If the controlled vehicle is currently allowed to change lanes, determining a lane-changing target lane corresponding to the controlled vehicle; Determining a lane change benefit evaluation strategy corresponding to the vehicle type, and performing a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result; Determining whether the lane-changing benefit evaluation result meets a preset first lane-changing condition; If the lane-changing benefit evaluation result meets the first lane-changing condition, performing a lane-changing safety evaluation on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety evaluation result; determining whether the first lane-changing safety assessment result meets a preset second lane-changing condition; If the first lane-changing safety assessment result meets the second lane-changing condition, the controlled vehicle is controlled to change from the current lane to the lane-changing target lane.

2. The vehicle lane-changing simulation method according to claim 1, characterized in that: The determining whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules includes: Determining prohibited lane change information corresponding to the vehicle type according to the lane change traffic rules; the prohibited lane change information includes each prohibited lane change road, a prohibited lane change behavior corresponding to each prohibited lane change road, and a prohibited lane change area; Determining the current position of the controlled vehicle; Based on the lane change prohibition information, determining whether the current position of the controlled vehicle allows lane change; If the current position of the controlled vehicle allows lane change, determining whether there is a lane change behavior ahead of the controlled vehicle; If there is no lane-changing behavior ahead of the controlled vehicle, it is determined that the controlled vehicle is currently allowed to change lanes.

3. The vehicle lane-changing simulation method according to claim 1, characterized in that: The vehicle type represents an unmanned vehicle, and the lane change benefit evaluation is performed on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result, including: Determining remaining distance information; the remaining distance information includes a first remaining distance and a second remaining distance; the first remaining distance is the distance the controlled vehicle needs to travel to exit its current lane; the second remaining distance is the distance the controlled vehicle needs to travel to exit the lane if it changes lanes to the lane-changing target lane; Determine each preceding vehicle corresponding to the controlled vehicle; the each preceding vehicle includes each first vehicle and each second vehicle; the first vehicle is a vehicle located in front of the controlled vehicle in the lane currently located by the controlled vehicle; the second vehicle is a vehicle located in front of the controlled vehicle in the lane change target lane; Obtaining operation task information corresponding to each of the preceding vehicles; For each of the preceding vehicles, estimating the dwell time of the preceding vehicle based on the operation task information corresponding to the preceding vehicle, and obtaining the estimated dwell time corresponding to the preceding vehicle; Determine forward speed information; the forward speed information includes a first average speed and a second average speed; the first average speed is an average speed of each of the first vehicles, and the second average speed is an average speed of each of the second vehicles; Based on the remaining distance information, the estimated stop time corresponding to each of the leading vehicles, the leading speed information and a preset first benefit evaluation strategy, the lane change benefit corresponding to the controlled vehicle is calculated to obtain a first lane change benefit value, and the first lane change benefit value is used as the lane change benefit evaluation result.

4. The vehicle lane-changing simulation method according to claim 1, wherein: The vehicle type represents a manned vehicle, and the lane change benefit evaluation is performed on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result, including: Determining a first reference speed and a second reference speed; the first reference speed being the speed of a vehicle located in front of and adjacent to the controlled vehicle in the lane currently occupied by the controlled vehicle; and the second reference speed being the speed of a vehicle located in front of and adjacent to the controlled vehicle in the lane-changing target lane; Determine a first total number of vehicles and a second total number of vehicles; the first total number of vehicles is the total number of all vehicles located ahead of the controlled vehicle in the lane where the controlled vehicle is currently located; the second total number of vehicles is the total number of all vehicles located ahead of the controlled vehicle in the lane where the lane is changed; Based on the first reference speed, the second reference speed, the first total number of vehicles, the second total number of vehicles, and a preset second benefit evaluation strategy, the lane change benefit corresponding to the controlled vehicle is calculated to obtain a second lane change benefit value, and the second lane change benefit value is used as the lane change benefit evaluation result.

5. The vehicle lane-changing simulation method according to claim 1, characterized in that: The performing a lane-changing safety assessment on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety assessment result includes: Determine a first target vehicle, a second target vehicle, and a third target vehicle; the first target vehicle is a vehicle located in front of and adjacent to the controlled vehicle in the lane currently located by the controlled vehicle; the second target vehicle is a vehicle located in front of and adjacent to the controlled vehicle in the lane-changing target lane; and the third target vehicle is a vehicle located behind and adjacent to the controlled vehicle in the lane-changing target lane. Evaluate the lane-changing safety between the controlled vehicle and the first target vehicle according to a preset first safety evaluation strategy to obtain a first evaluation index; Evaluate the lane-changing safety between the controlled vehicle and the second target vehicle according to a preset second safety evaluation strategy to obtain a second evaluation index; Evaluate the lane-changing safety between the controlled vehicle and the third target vehicle according to a preset third safety evaluation strategy to obtain a third evaluation index; The first evaluation index, the second evaluation index, and the third evaluation index are used as the first lane-changing safety evaluation result.

6. The vehicle lane-changing simulation method according to claim 1, characterized in that: Also includes: If the controlled vehicle is currently in the target operation area, determining whether the controlled vehicle is currently in the target operation lane of the operation task; If the controlled vehicle is not currently in the target operating lane, performing a lane change safety assessment on the controlled vehicle to obtain a second lane change safety assessment result; determining whether the second lane-changing safety assessment result meets the second lane-changing condition; If the second lane-changing safety assessment result does not meet the second lane-changing condition, determining a lane-changing waiting position corresponding to the controlled vehicle; The controlled vehicle is controlled to travel to the lane-changing waiting position to wait for a lane-changing operation.

7. The vehicle lane-changing simulation method according to claim 6, characterized in that: Also includes: If the second lane-changing safety assessment result meets the second lane-changing condition, the controlled vehicle is controlled to change from the current lane to the target operating lane.

8. A vehicle lane-changing simulation device, characterized in that: include: A first judgment unit is used to judge whether the controlled vehicle is currently in a target operation area of the operation task when a lane change evaluation is required for the controlled vehicle; a second judgment unit, configured to, if the controlled vehicle is not currently in the target operating area, determine whether the controlled vehicle is currently allowed to change lanes based on the vehicle type of the controlled vehicle and preset lane-changing traffic rules; the vehicle type indicating whether the controlled vehicle is an unmanned vehicle or a manned vehicle; a lane determination unit, configured to determine a lane change target lane corresponding to the controlled vehicle if the controlled vehicle is currently allowed to change lanes; a first evaluation unit, configured to determine a lane change benefit evaluation strategy corresponding to the vehicle type, and perform a lane change benefit evaluation on the controlled vehicle based on the lane change benefit evaluation strategy and the lane change target lane to obtain a lane change benefit evaluation result; a third judging unit, configured to judge whether the lane-changing benefit evaluation result meets a preset first lane-changing condition; a second evaluation unit, configured to perform a lane-changing safety evaluation on the controlled vehicle based on the lane-changing target lane to obtain a first lane-changing safety evaluation result if the lane-changing benefit evaluation result meets the first lane-changing condition; a fourth judgment unit, configured to judge whether the first lane-changing safety assessment result meets a preset second lane-changing condition; A lane change control unit is configured to control the controlled vehicle to change from its current lane to the lane change target lane if the first lane change safety assessment result meets the second lane change condition.

9. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the vehicle lane change simulation method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The system comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to execute the vehicle lane changing simulation method according to any one of claims 1 to 7 by one or more processors.

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