Vehicle lane-changing control method, vehicle lane-changing control device and related equipment

A vehicle lane-changing control device, comprising a processor and a memory for storing program instructions, wherein the processor executes the program instructions to:

• control a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule;
• acquire a location relation between the host vehicle and a referential lane line in real time, wherein the referential lane line is located between the host vehicle and the to-be-turned-into lane, wherein the location relation comprises one or more of following situations:
• the host vehicle has not yet crossed the referential lane line, a front wheel of the host vehicle hits the referential lane line, a front wheel of the host vehicle totally crosses the referential lane line, a rear wheel of the host vehicle totally crosses the referential lane line, and the host vehicle travels parallel to the referential lane line;
• determine whether the location relation meets a preset changing rule;
• and
• control an action of the host vehicle with a second control rule corresponding to the preset changing rule in a case that the location relation meets the preset changing rule, wherein
• lane-changing rules applied during lane-changing control are determined by actual lane-changing operations of a driver, and the lane-changing rules are divided based on lane-changing environment and the preset changing rule to acquire the first control rule and the second control rule,
• wherein before controlling a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule, the processor executes the program instructions further to:
• acquire traveling environment information on a surrounding environment of the host vehicle, wherein the traveling environment information comprises a speed of the host vehicle and a speed and an orientation of an obstacle in the same lane as the host vehicle and in a neighboring lane neighboring to the lane where the host vehicle locates;
• and
• determine whether it is feasible for the host vehicle to change the lane where the host vehicle locates to a candidate lane based on the traveling environment information, wherein the candidate lane is a left neighboring lane or a right neighboring lane neighboring to the lane where the host vehicle locates;
• wherein
• the host vehicle is controlled to travel into the neighboring to-be-turned-into lane with the first control rule in a case that it is feasible for the host vehicle to change the lane where the host vehicle locates to the candidate lane,
• wherein the processor executes the program instructions further to:
• determine whether it is feasible for the host vehicle to change the lane where the host vehicle locates to the candidate lane based on speeds of the host vehicle, a first tracking object and a second tracking object, and distances from the host vehicle to the first tracking object and the second tracking object, wherein the first tracking object is an obstacle in front of the host vehicle in the candidate lane, and the second tracking object is an obstacle behind the host vehicle in the candidate lane,
• wherein the processor executes the program instructions further to:
• acquire a steering entry point of the host vehicle based on the speed of the host vehicle and a preset lateral acceleration threshold, wherein the steering entry point is located on a lane line between the host vehicle and the candidate lane;
• determine whether a relative speed of the first tracking object with respect to the host vehicle is greater than or equal to zero and whether a distance between the first tracking object and the steering entry point is greater than a preview distance of the host vehicle after a first preset time, wherein the preview distance is a distance travelled by the host vehicle during a preset steering preview time period;
• and determining that a front lane-changing condition is met in a case that the relative speed of the first tracking object with respect to the host vehicle is greater than or equal to zero and the distance between the first tracking object and the steering entry point is greater than the preview distance after the first preset time;
• determine whether a relative speed of the second tracking object with respect to the host vehicle is less than or equal to zero and whether a distance between the second tracking object and the steering entry point is greater than the preview distance after the first preset time;
• and determining that a back lane-changing condition is met in a case that the relative speed of the second tracking object with respect to the host vehicle is less than or equal to zero and the distance between the second tracking object and the steering entry point is greater than the preview distance after the first preset time;
• and
• determine that it is feasible for the host vehicle to change the lane where the host vehicle locates to the candidate lane after the first preset time in a case that both the front lane-changing condition and the back lane-changing condition are met.

A computer readable storage medium storing computer programs, wherein the computer programs, when executed by a processor, cause the processor to perform a vehicle lane-changing control method comprising:

• controlling a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule;
• acquiring a location relation between the host vehicle and a referential lane line in real time, wherein the referential lane line is located between the host vehicle and the to-be-turned-into lane, wherein the location relation comprises one or more of following situations:
• the host vehicle has not yet crossed the referential lane line, a front wheel of the host vehicle hits the referential lane line, a front wheel of the host vehicle totally crosses the referential lane line, a rear wheel of the host vehicle totally crosses the referential lane line, and the host vehicle travels parallel to the referential lane line;
• determining whether the location relation meets a preset changing rule;
• and
• controlling an action of the host vehicle with a second control rule corresponding to the preset changing rule in a case that the location relation meets the preset changing rule, wherein
• lane-changing rules applied during lane-changing control are determined by actual lane-changing operations of a driver, and the lane-changing rules are divided based on lane-changing environment and the preset changing rule to acquire the first control rule and the second control rule,
• wherein before the controlling a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule, the method further comprises:
• acquiring traveling environment information on a surrounding environment of the host vehicle, wherein the traveling environment information comprises a speed of the host vehicle and a speed and an orientation of an obstacle in the same lane as the host vehicle and in a neighboring lane neighboring to the lane where the host vehicle locates;
• and
• determining whether it is feasible for the host vehicle to change the lane where the host vehicle locates to a candidate lane based on the traveling environment information, wherein the candidate lane is a left neighboring lane or a right neighboring lane neighboring to the lane where the host vehicle locates;
• wherein
• the host vehicle is controlled to travel into the neighboring to-be-turned-into lane with the first control rule in a case that it is feasible for the host vehicle to change the lane where the host vehicle locates to the candidate lane,
• wherein the determining whether it is feasible for the host vehicle to change the lane where the host vehicle locates to a candidate lane comprises:
• determining whether it is feasible for the host vehicle to change the lane where the host vehicle locates to the candidate lane based on speeds of the host vehicle, a first tracking object and a second tracking object, and distances from the host vehicle to the first tracking object and the second tracking object, wherein the first tracking object is an obstacle in front of the host vehicle in the candidate lane, and the second tracking object is an obstacle behind the host vehicle in the candidate lane,
• wherein the determining whether it is feasible for the host vehicle to change the lane where the host vehicle locates to the candidate lane based on speeds of the host vehicle, a first tracking object and a second tracking object, and distances from the host vehicle to the first tracking object and the second tracking object comprises:
• acquiring a steering entry point of the host vehicle based on the speed of the host vehicle and a preset lateral acceleration threshold, wherein the steering entry point is located on a lane line between the host vehicle and the candidate lane;
• determining whether a relative speed of the first tracking object with respect to the host vehicle is greater than or equal to zero and whether a distance between the first tracking object and the steering entry point is greater than a preview distance of the host vehicle after a first preset time, wherein the preview distance is a distance travelled by the host vehicle during a preset steering preview time period;
• and determining that a front lane-changing condition is met in a case that the relative speed of the first tracking object with respect to the host vehicle is greater than or equal to zero and the distance between the first tracking object and the steering entry point is greater than the preview distance after the first preset time;
• determining whether a relative speed of the second tracking object with respect to the host vehicle is less than or equal to zero and whether a distance between the second tracking object and the steering entry point is greater than the preview distance after the first preset time;
• and determining that a back lane-changing condition is met in a case that the relative speed of the second tracking object with respect to the host vehicle is less than or equal to zero and the distance between the second tracking object and the steering entry point is greater than the preview distance after the first preset time;
• and
• determining that it is feasible for the host vehicle to change the lane where the host vehicle locates to the candidate lane after the first preset time in a case that both the front lane-changing condition and the back lane-changing condition are met.