{
  "$type": "site.standard.document",
  "description": "A control method and apparatus based on autonomous driving, and a vehicle and a related device. The control method based on autonomous driving comprises: acquiring scene information of a target vehicle (S101); determining a current lane-change scene type of the target vehicle according to the scene…",
  "path": "/patents/1398670",
  "publishedAt": "2025-12-31T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "TENCENT TECH SHENZHEN CO LTD [CN]"
  ],
  "textContent": "A control method and apparatus based on autonomous driving, and a vehicle and a related device. The control method based on autonomous driving comprises: acquiring scene information of a target vehicle (S101); determining a current lane-change scene type of the target vehicle according to the scene information (S 102); if the current lane-change scene type is a forced lane-change scene type, identifying, according to the scene information, a first lane for completing a navigation traveling route, and when it is detected that the first lane meets a lane-change safety check condition, controlling, according to the first lane, the target vehicle to execute lane change processing (S 103); and if the current lane-change scene type is a free lane-change scene type, identifying, according to the scene information, a second lane for optimizing a traveling time, and when it is detected that the second lane meets the lane change safety check condition, controlling, according to the second lane, the target vehicle to execute the lane change processing (S104). By means of the control method, an autonomous lane change of an autonomous driving vehicle can be more flexible, and the lane change safety and the traffic efficiency are improved.",
  "title": "CONTROL METHOD AND APPARATUS BASED ON AUTONOMOUS DRIVING, AND VEHICLE AND RELATED DEVICE"
}