TW202017780A - System and method for lane changing of a vehicle - Google Patents

Abstract

This invention provides a lane changing system arranged in a vehicle and comprising an inertia detection unit, a graph information unit, a visual tracker, a memory, a processor and a rotating device. The inertia detection unit detects the speed, acceleration and vehicle body parameters of the vehicle. The graph information unit detects a real-time position of the vehicle and stores road sideline information. The visual tracker detects a road curvature values and a relative distance and captures road sideline images and vehicle surrounding images. The processor stores vehicle parameters and calculates a lateral acceleration according to the vehicle parameters, the speed, the acceleration and the road curvature value. The processor generates a steering signal when it determines that the relative distance is smaller than a threshold value, the lateral acceleration is smaller than a safety threshold and the vehicle surrounding image is safe. The rotating device controls the vehicle to change a lane when receiving the steering signal.

Description

Lane changing system and lane changing method

The invention relates to the field of automobile driving, in particular to a lane changing system and a lane changing method.

With the development of unmanned autonomous vehicles or automatic assisted driving, vehicles need to have the ability to take the initiative to eliminate the situation when they encounter a situation during the journey. For example, if there is an obstacle in front of you, or if a car accident occurs in front of you, you need to have a function to automatically or automatically switch lanes.

At present, lane change methods are mainly based on path planning. The calculation structure of most path planning is huge and complicated, and it must always be optimized to obtain a better path. In addition, it takes a long time, and it is difficult to adapt to a situation where the reaction time is short.

In addition, since it only considers the route planning, and does not consider the passengers or the goods carried in it, when the vehicle changes lanes, if it cannot achieve comfort and safety, the development of unmanned automatic vehicles or automatic assisted driving will inevitably be User negative reviews.

In view of this, a lane change system is provided here. The lane change system is installed in the vehicle and includes an inertial detection unit, a graphics unit, a visual tracker, a memory, a processor, and a rotating device.

The inertial detection unit detects the vehicle speed, acceleration and a plurality of vehicle body parameters. The picture information unit detects the real-time position of the vehicle and stores road edge information. The visual tracker detects the road curvature value and the relative distance, and captures the image of the road sidelines and the surrounding images of the vehicle. The memory stores a plurality of vehicle parameters; the processor is electrically connected to the visual tracker, image data unit, memory and inertial detection unit.

The processor is used to: receive vehicle speed, vehicle body parameters, acceleration, road curvature value, relative distance, road edge information, vehicle surrounding image and road edge image; calculate lateral acceleration based on vehicle parameters, vehicle speed, acceleration and road curvature value; and The steering signal is generated when it is determined that the relative distance is less than the threshold value, the lateral acceleration is less than the safety threshold value, and it is determined that there are no other vehicles around the vehicle according to the image around the vehicle. The turning device is electrically connected to the processor, and receives a turn signal to switch the vehicle from the original driving lane to another lane.

Here, a method for lane change is further provided. The method includes: the vehicle speed, acceleration and a plurality of vehicle body parameters are detected by the inertial detection unit; the real-time position of the vehicle is detected by the map information unit and the road edge information is stored ; The visual tracker detects the road curvature value and relative distance, and captures the image of the vehicle's surroundings and the road side image; the processor calculates the side based on a plurality of vehicle parameters, vehicle speed, acceleration, and road curvature values stored in memory Directional acceleration; when the processor determines that the relative distance is less than the threshold, the lateral acceleration is less than the safety threshold, and the vehicle surrounding image determines that there are no other vehicles around the vehicle, a steering signal is generated; and the turning device receives the steering signal to make the vehicle The original driving lane is switched to another lane.

In this way, the lateral acceleration of the vehicle is calculated by the processor to control the lateral acceleration and driving distance of the vehicle to switch lanes, which can provide passengers with better safety and comfort when the vehicle changes lanes, thereby making the passengers feel comfortable Without panic, if it is a vehicle carrying goods, the goods it carries can also be ensured, thereby improving the reliability of unmanned automatic vehicles or automatic assisted driving.

The following describes in detail the detailed features and advantages of the present invention in the embodiments. The content is sufficient for any person skilled in the relevant art to understand and implement the technical content of the present invention, and according to the contents disclosed in this specification, the scope of patent application and the drawings Anyone skilled in the relevant art can easily understand the purpose and advantages of the present invention.

Figure 1 is a schematic diagram of a lane change system. As shown in FIG. 1, the lane change system 1 is installed in a vehicle 500. The lane change system 1 includes an inertial detection unit 10, a picture resource unit 20, a visual tracker 30, a processor 40, a turning device 50 and a memory 60.

The inertial detection unit 10 is an inertial sensor that can include an accelerometer, a gyro meter, and an electronic compass. The inertial detection unit 10 is used to detect and output the speed, acceleration, and a plurality of vehicle body parameters of the vehicle 500. The map information unit 20 detects the real-time position of the vehicle 500 and stores road edge information. In more detail, the image data unit 20 may be a high-precision GPS unit. The visual tracker 30 detects the road curvature value and the relative distance, and captures and outputs the road edge image and the vehicle surrounding image. The visual tracker 30 includes a detector, an image capturing device, and a computing device (not shown in the figure), which can capture image frames, and can calculate relative distances, road curvature values, and other related parameters according to the detector and image frames. .

The memory 60 stores a plurality of vehicle parameters. The memory 60 may include any suitable volatile or non-volatile computer readable storage media (for example: a random storage memory ( random access memory (RAM), a read-only memory (ROM), a universal serial bus (USB) disc, a hard disk, a compact disk (CD), a A flash drive or any other storage medium or circuit known to those of ordinary skill in the art to which this invention belongs and having the same function.

The processor 40 may be a central processing unit (Central Processing Unit; CPU), a microprocessor, a control element, other hardware components that can execute instructions, or other computing devices known to those of ordinary skill in the technical field of the present invention. Any one. The processor 40 is electrically connected to the visual tracker 30, the image data unit 20, the memory 60, and the inertial detection unit 10. The processor 40 is used to receive vehicle speed, vehicle body parameters, acceleration, road curvature value, relative distance, road edge information, vehicle surrounding images, and road edge images. The processor 40 then calculates the lateral acceleration according to the vehicle parameters, vehicle speed, acceleration, and road curvature values. And the processor 40 generates the steering signal R when it is determined that the relative distance is less than the threshold value, the lateral acceleration is less than the safety threshold value, and it is determined that there are no other vehicles around the vehicle according to the image around the vehicle. The turning device 50 is electrically connected to the processor 40 and receives the steering signal R, so that the vehicle 500 is switched from the original driving lane to another lane.

In addition, the processor 40 compares the real-time position of the vehicle 500, the roadside information and the roadside image to generate the following signal T. The steering device 50 receives the following signal T, so that the vehicle 500 continues to travel according to the roadside information.

Further, when it is determined that there are no other vehicles around the vehicle based on the vehicle surrounding image, it is only used as an example, rather than being limited to this, the processor 40 may analyze the pixels around the vehicle surrounding image based on left, right, back, left, or At the rear right, is there an object with a relatively fast speed coming toward the vehicle 500? If there is no or the relative speed is slow, it is determined that there are no other vehicles, otherwise, it is determined that there are other vehicles.

，其中α _f 為前輪側滑角、δ _f 為前輪轉向角、 θ _Vf 為前輪速度角。 方程式2：

，其中θ _Vf 為前輪速度角、V _x 為直線速度、V _y 為側向速度、I _f 為車輛重心到前輪的距離、

為車輛偏航率。 方程式3：

，其中α _r 為後輪側滑角，θ _Vr 為前輪速度角。 方程式4：

，其中θ _Vr 為後輪速度角、V _x 為直線速度、V _y 為側向速度、I _r 為車輛重心到後輪的距離、

為車輛偏航率。 方程式5：

，其中LG為側向加速度、m為車重、F _yf 為前輪側向力、F _yr 為後輪側向力。 方程式6：

，其中F _yf 為前輪側向力、C _f 為前輪轉向剛性、α _f 為前輪側滑角。 方程式7：

，其中F _yr 為後輪側向力、C _r 為後輪轉向剛性、α _r 為後輪側滑角。In more detail, the vehicle parameters stored by the processor 40 include the vehicle weight, the steering rigidity of the front wheel, the steering rigidity of the rear wheel, the distance from the center of gravity of the vehicle to the front wheel, and the distance from the center of gravity of the vehicle to the rear wheel. In addition, the vehicle body parameters detected by the inertial detection unit 10 include vehicle yaw rate, front wheel side slip angle, rear wheel side slip angle, front wheel speed angle, rear wheel speed angle, and front wheel steering angle. Here, the front wheel side slip angle can be calculated by the following equation 1-2, the rear wheel side slip angle can be calculated by the following equation 3-4, and the lateral acceleration can be calculated by the equation 5-7. Equation 1:

Where α _f is the front wheel side slip angle, δ _f is the front wheel steering angle, and θ _Vf is the front wheel speed angle. Equation 2:

, Where θ _Vf is the front wheel speed angle, V _x is the linear speed, V _y is the lateral speed, and I _f is the distance from the center of gravity of the vehicle to the front wheels,

The vehicle yaw rate. Equation 3:

, Where α _r is the side slip angle of the rear wheel and θ _Vr is the front wheel speed angle. Equation 4:

, Where θ _Vr is the rear wheel speed angle, V _x is the linear speed, V _y is the lateral speed, and _Ir is the distance from the center of gravity of the vehicle to the rear wheels,

The vehicle yaw rate. Equation 5:

Where LG is the lateral acceleration, m is the vehicle weight, F _yf is the front wheel lateral force, and F _yr is the rear wheel lateral force. Equation 6:

, Where F _yf is the front wheel lateral force, C _f is the front wheel steering rigidity, and α _f is the front wheel side slip angle. Equation 7:

, Where F _yr is the rear wheel lateral force, C _r is the rear wheel steering rigidity, and α _r is the rear wheel side slip angle.

Further, the processor 40 may set a safety threshold of 0.2G to 0.3G, where G refers to acceleration of gravity. In this way, the passengers carried can have a better sense of comfort for the vehicle 500 turning to switch lanes without feeling dizzy. In addition, the processor 40 can be adjusted according to the vehicle speed, and the time required to control the vehicle 500 to switch from the original driving lane to another lane is 1.5 seconds to 4 seconds.

In addition, the processor 40 is also electrically connected to the vehicle control bus 510 of the vehicle 500. When the processor 40 determines that the relative distance is less than the threshold and the lateral acceleration is greater than the safety threshold, the processor 40 sends a control signal C to the vehicle control bus 510 To adjust vehicle speed and acceleration. For example, perform braking to reduce vehicle speed and acceleration to avoid collision with obstacles in front. Or, when the processor 40 determines that the relative distance is less than the threshold value, the lateral acceleration is less than the safety threshold value, and determines that there are other vehicles around the vehicle according to the image around the vehicle, the processor 40 sends a control signal C to the The vehicle controls the bus 510 to adjust the vehicle speed and the acceleration.

Referring again to FIG. 1, further, the turning device 50 includes a steering wheel sensor 51 that is electrically connected to the processor 40 and detects the turning angle of the steering wheel to generate angle information P, and transmits the angle information P to the processing The processor 40 and the processor 40 adjust the steering signal R according to the angle information P, whereby the processor 40 can fine-tune the steering wheel rotation angle in real time to avoid deviation. Further, the angle sensed by the steering wheel sensor 51 should be consistent with the road edge information stored in the image data unit 20 and the road edge image captured by the visual tracker 30 when the vehicle 500 follows the road edge information.

Fig. 2 is a flowchart of a lane change method. As shown in FIG. 2, the lane change method S1 includes step S10, step S20, step S30, step S40, step S50, step S60, and step S70. Referring to FIG. 1 at the same time, in step S10, the inertial detection unit 10 detects the speed, acceleration, and a plurality of vehicle body parameters of the vehicle 500. In step S20, the visual tracker 30 detects the road curvature value and the relative distance, and captures images of the vehicle's surroundings and road sidelines. In step S30, the processor 40 calculates the lateral acceleration based on a plurality of vehicle parameters stored in the memory 60, as well as vehicle speed, acceleration, and road curvature values. The calculation method is generally as described above.

Step S40 is a continuous judgment step and includes step S41, step S43, and step S45. In step S41, the processor 40 determines whether the relative distance is less than the threshold value. If it is "Yes", the process proceeds to step S43 to continue the determination. If it is "No", the process proceeds to step S60. In step S43, the processor 40 determines whether the lateral acceleration is less than the safety threshold. If it is "Yes", the process proceeds to step S45 to continue the judgment. If it is "No", the process proceeds to step S70. Step S45 is that the processor 40 judges whether there are other vehicles based on the images around the vehicle, for example, whether there are incoming cars or obstacles in the left lane, right lane, or behind. If the judgment is "Yes", then step S50 is entered. If it is judged as "No", it proceeds to step S70.

FIG. 3 is a schematic top view of the vehicle automatically changing lanes. 2 and FIG. 3 at the same time, in step S50, the processor 40 generates a steering signal R to control the rotation of the rotating device 50, so that the vehicle 500 is switched from the original driving lane L1 to another lane L2. The processor 40 receives the real-time position of the vehicle 500 from the map unit 20 at any time, and compares the road edge information and the road edge image from the map unit 20. When the processor 40 determines that the real-time position of the vehicle 500 enters another lane L2 In step S60, the processor 40 generates a follow signal T to control the turning device 50 to follow the roadside information.

1 and 3 at the same time, if the processor 40 determines that the relative distance between the vehicle 500 and the front object B, for example, the obstacle or the vehicle is still greater than the threshold value, it will proceed to step S60 to continue to generate the following signal T and control the rotating device 50 to follow Roadside information. That is, unless the front affects the driving safety of the driver, step S50 is started to perform the steering to make the vehicle 500 change lanes.

However, when the determination in step S43 is "No", that is, when the processor 40 determines that the relative distance is less than the threshold value (that is, the case where the relative distance is insufficient to perform the lane change), and the lateral acceleration is greater than the safety threshold value. Or, step S41 and step S43 determine "yes", but when step S45 determines no, that is, when the processor 40 determines that there are other vehicles around the vehicle 500 according to the vehicle surrounding images, that is, the processor 40 determines that the vehicle 500 cannot be completely Under the condition of avoiding collision with other vehicles, proceeding to step S70, the processor 40 sends a control signal C to the vehicle control bus 510 of the vehicle 500 to adjust the vehicle speed and acceleration. In other words, the vehicle 500 can be braked and decelerated to prevent the vehicle 500 from colliding with the front object B. Further, after the speed is reduced or the acceleration is reduced, the process returns to step S30 to recalculate and then make subsequent judgments. However, this is only an example, and is not limited to this. For example, the determination order of step S43 and step S45 may be replaced with each other.

In addition, in step S60, the turning device 50 includes a steering wheel sensor 51, the steering wheel sensor 51 is electrically connected to the processor 40, and detects a turning angle of a steering wheel to generate an angle information P, and The angle information P is transmitted to the processor 40, and the processor 40 adjusts the steering signal R according to the angle information P.

Referring again to FIG. 3, through the foregoing calculations, the safety threshold for changing lanes of the vehicle 500 can be controlled from 0.2G to 0.3G, and the time of the other lane L2 is 1.5 seconds to 4 seconds, and the appropriate switching lane driving distance d is calculated , The lateral offset W, and the yaw angle θc calculated based thereon.

，其中V _x 為直線速度、θ_c 為偏航角、W為側向偏移量，w_n 為系統頻率常數、s為拉普拉斯轉換的輸出變量。Here, the relationship between the trajectory of the vehicle 500 with respect to the yaw angle θc and the lateral offset W can be represented by a Laplace Transform, which can be described as shown in Equation 8 below, which may have been second-order damped The form of the response is described, but this is only an example and is not limited to this. Equation 8:

, Where V _x is the linear velocity, θ _c is the yaw angle, W is the lateral offset, w _n is the system frequency constant, and s is the output variable of Laplace conversion.

，其中θ_c 為偏航角，

為前輪轉向角、s為拉普拉斯轉換的輸出變量。In addition, the operation function of the rotating device 50 can be described by Equation 9, where the system frequency is set to 6π and the damping ratio is 0.8, but this is only an example, not a limitation. Equation 9;

, Where θ _c is the yaw angle,

Is the front wheel steering angle, and s is the output variable of Laplace conversion.

，其中X為狀態空間變數、δ _f 為前輪轉向角、A及B為車輛500的系統常數。 方程式11：

，其中C為另一系統常數，X為狀態空間變數，如此，描述一個具有多個輸入參數 (δ _f )、多個輸出參數(Output)及多個狀態空間變數X的系統，將其狀態空間變數的微分表示成所有狀態空間變數與輸入參數之線性關係組合。Further, the state of the space of the vehicle 500 can be described by Equation 10 and Equation 11: Equation 10:

, Where X is the state space variable, δ _f is the front wheel steering angle, and A and B are the system constants of the vehicle 500. Equation 11:

, Where C is another system constant and X is a state space variable. Thus, to describe a system with multiple input parameters (δ _f ), multiple output parameters (Output), and multiple state space variables X, change its state space The differential of a variable is expressed as a combination of linear relationships of all state space variables and input parameters.

、

，進而與前述的方程式1-7連結。 方程式12：

方程式13：

其中，C_f 為前輪轉向剛性、C _r 為後輪轉向剛性、I為轉動慣量、

為車輛重心到前輪的距離、

為車輛重心到後輪的距離、V _x 為直線速度、m為車重、

為側向速度，即方程式2及方程式4的V_y 、

為車輛偏航率。Equation 12 is the expansion of Equation 10 and Equation 11, which can be calculated by Laplace conversion to obtain Equation 13, which can be calculated

,

, Which is further linked to the aforementioned equations 1-7. Equation 12:

Equation 13:

Where C _f is the steering rigidity of the front wheels, C _r is the steering rigidity of the rear wheels, I is the moment of inertia,

The distance from the center of gravity of the vehicle to the front wheels,

Is the distance from the center of gravity of the vehicle to the rear wheels, V _x is the linear velocity, m is the weight of the vehicle,

Is the lateral velocity, that is, V _{y of} Equation 2 and Equation 4,

The vehicle yaw rate.

The lane change method S1 described in FIG. 2 is an embodiment, which may be implemented by a computer program product including a plurality of instructions. Each computer program product can be a file that can be transmitted over the network, or it can be stored in a non-transitory computer readable storage medium. For each computer program product, after the instructions contained in it are loaded into an electronic computing device (for example, the car-to-transformation system 1 described in FIG. 1), the computer program executes as described in FIG. 2 Lane changing method. The non-transitory computer-readable storage medium may be an electronic product, such as: a read only memory (ROM), a flash memory, a floppy disk, a hard disk, and a compact disk (compact disk; CD), a flash drive, a magnetic tape, a recording element accessible by the network, or any other storage medium known to those of ordinary skill in the technical field of the present invention and having the same function.

In summary, the lateral acceleration of the vehicle 500 is calculated by the processor 40 to control the lateral acceleration and the driving distance of the vehicle 500 to switch lanes, which can provide passengers with better safety and comfort when the vehicle 500 changes lanes In turn, passengers feel comfortable without panic. If the vehicle 500 carries goods, the goods it carries can also be ensured, thereby improving the reliability of unmanned autonomous vehicles or automatic assisted driving.

Although the technical content of the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone who is familiar with this art and makes some changes and retouching without departing from the spirit of the present invention should be covered in the present invention. The scope of protection of the present invention shall be subject to the scope of the attached patent application.

1: Lane changing system 10: Inertial detection unit 20: Image data unit 30: Vision tracker 40: Processor 50: Rotating device 51: Steering wheel sensor 60: Memory 500: Vehicle 510: Vehicle control bus C: Control signal P: Angle information R: Turn signal T: Follow signal d: Lane travel distance W: Lateral offset L1: Original driving lane L2: Another lane B: Front object θc: Yaw angle S1: Lane change method S10: Detect vehicle speed, acceleration, and vehicle body parameters S20: Detect road curvature value, relative distance, and capture images of vehicle surroundings and road sidelines S30: Calculate lateral acceleration S40: Continuous judgment step S41: Relative The distance is less than the threshold value S43: the lateral acceleration is less than the safety threshold value S45: there are other vehicles S50: the steering signal is generated to control the steering device to rotate, and the vehicle is switched from the original driving lane to another lane S60: the follow signal is generated, the steering device is controlled to follow the road side Information driving S70: Sending control signals to the vehicle's vehicle control bus to adjust vehicle speed and acceleration

Figure 1 is a schematic diagram of a lane change system. Fig. 2 is a flowchart of a lane change method. FIG. 3 is a schematic top view of the vehicle automatically changing lanes.

1: Lane change system

10: Inertial detection unit

20: Drawing unit

30: visual tracker

40: processor

50: Rotating device

51: Steering wheel sensor

60: Memory

500: Vehicle

510: Vehicle control bus

C: control signal

P: Angle information

R: turn signal

T: follow signal

Claims (18)

A lane change system, installed in a vehicle, includes: an inertial detection unit to detect a vehicle speed, an acceleration and a plurality of vehicle body parameters; a picture resource unit to detect a real-time position of the vehicle , And store a road edge information; a visual tracker, detect a road curvature value, a relative distance, and capture a road edge image and a vehicle surrounding image; a memory, store a plurality of vehicle parameters; a processing Device, electrically connected to the visual tracker, the image data unit, the memory and the inertial detection unit, wherein the processor is used to: receive the vehicle speed, the vehicle body parameters, the acceleration, the road curvature value, the Relative distance, the road edge information, the vehicle surrounding image and the road edge image; calculate the lateral acceleration based on the vehicle parameters, the vehicle speed, the acceleration and the road curvature value; and when judging that the relative distance is less than a threshold Value, the lateral acceleration is less than a safety threshold, and a steering signal is generated when it is judged that there are no other vehicles around the vehicle based on the vehicle surrounding image; and a turning device, electrically connected to the processor, receives the steering signal to make the vehicle Switch from one original driving lane to another. The lane change system according to claim 1, further comprising: the processor generating a follow signal by comparing the real-time position of the vehicle, the road edge information and the road edge image; and the steering device receives the follow signal, Make the vehicle continue to drive according to the roadside information. The lane change system of claim 1, wherein the processor is more electrically connected to a vehicle control bus of the vehicle, when the processor determines that the relative distance is less than the threshold and the lateral acceleration is greater than the safety threshold , The processor sends a control signal to the vehicle control bus to adjust the vehicle speed and the acceleration. The lane change system of claim 1, wherein the processor is more electrically connected to a vehicle control bus of the vehicle, and when the processor determines that the relative distance is less than the threshold, the lateral acceleration is less than the safety threshold, and When it is determined that there are other vehicles around the vehicle according to the image around the vehicle, the processor sends a control signal to the vehicle control bus to adjust the vehicle speed and the acceleration. The lane change system according to claim 1, wherein the turning device includes a steering wheel sensor, the steering wheel sensor is electrically connected to the processor, and detects a turning angle of a steering wheel to generate angle information, and The angle information is transmitted to the processor, and the processor adjusts the steering signal according to the angle information. The lane change system according to claim 1, wherein the vehicle parameters include a vehicle weight, a front wheel steering rigidity, a rear wheel steering rigidity, a vehicle center of gravity to front wheel distance, and a vehicle center of gravity to rear wheel distance. The lane change system according to claim 1, wherein the safety threshold of the lateral acceleration is 0.2 G to 0.3G, where G represents gravity acceleration. The lane change system according to claim 7, wherein the time required for the vehicle to switch from the original driving lane to the other lane is 1.5 seconds to 4 seconds. The lane change system according to claim 1, wherein the vehicle body parameters include a vehicle yaw rate, a front wheel side slip angle, a rear wheel side slip angle, a front wheel speed angle, a rear wheel speed angle, and a front wheel steering angle. A lane changing method includes: an inertial detection unit detects a vehicle speed, an acceleration and a plurality of vehicle body parameters; a picture data unit detects a real-time position of the vehicle and stores a road edge information ; A visual tracker detects a road curvature value, a relative distance, and captures a vehicle surrounding image and a road edge image; a processor based on a plurality of vehicle parameters stored in a memory, the vehicle speed, The acceleration and the road curvature value calculate a lateral acceleration; the processor determines that the relative distance is less than a threshold, the lateral acceleration is less than a safety threshold, and determines that there is no other around the vehicle based on the image of the vehicle When the vehicle generates a turn signal; and a turning device receives the turn signal to switch the vehicle from an original driving lane to another lane. The lane change method according to claim 10, further comprising: comparing, by the processor, the real-time position of the vehicle, the road edge information and the road edge image to generate a follow signal; and the steering device receiving the follow signal The signal enables the vehicle to continue driving based on the roadside information. The lane change method according to claim 10, further comprising: when the processor determines that the relative distance is less than the threshold and the lateral acceleration is greater than the safety threshold, the processor sends a control signal to a vehicle of the vehicle Control the busbar to adjust the vehicle speed and the acceleration. The lane change method according to claim 10, further comprising: when the processor determines that the relative distance is less than the threshold value, the lateral acceleration is less than the safety threshold value, and determines that there are other vehicles around the vehicle according to the image around the vehicle At this time, the processor sends a control signal to the vehicle control bus to adjust the vehicle speed and the acceleration. The lane changing method according to claim 10, wherein the turning device includes a steering wheel sensor, the steering wheel sensor is electrically connected to the processor, and detects a turning angle of a steering wheel to generate angle information, and The angle information is transmitted to the processor, and the processor adjusts the steering signal according to the angle information. The lane change method according to claim 10, wherein the vehicle parameters include a vehicle weight, a front wheel steering rigidity, a rear wheel steering rigidity, a vehicle center of gravity to front wheel distance, and a vehicle center of gravity to rear wheel distance. The lane change method according to claim 10, wherein the safety threshold of the lateral acceleration is 0.2G to 0.3G, where G represents gravity acceleration. The lane change method according to claim 16, wherein the time required for the vehicle to switch from the original driving lane to the other lane is 1.5 seconds to 4 seconds. The lane change method according to claim 10, wherein the vehicle body parameters include a vehicle yaw rate, a front wheel side slip angle, a rear wheel side slip angle, a front wheel speed angle, a rear wheel speed angle, and a front wheel steering angle.

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