Anthropomorphic lane-changing control method and system based on driving risk quantification, and vehicle

The present disclosure discloses an anthropomorphic lane-changing control method and system based on driving risk quantification, and a vehicle. The method includes: determining whether a main vehicle has a lane-changing intention based on motion statuses of the main vehicle and a front vehicle in a current lane; if there is a lane-changing intention, generating an anthropomorphic lane-changing trajectory that satisfies safety constraints and reachability constraints; based on a motion status of a traffic participant that causes a risk to the main vehicle, calculating an overall risk level and determining whether the anthropomorphic lane-changing trajectory satisfies risk constraints; and if the risk constraints are not satisfied, regenerating an anthropomorphic lane-changing trajectory; or if the risk constraints are satisfied, performing tracking control based on a preview-following theory. In the present disclosure, a lane-changing intention is described and identified based on actually measured data, to generate an anthropomorphic lane-changing trajectory.