Vehicle lane changing method in consideration of overlapping area of interaction areas of multiple vehicles

A vehicle lane changing method in consideration of the overlapping area of the interaction areas of multiple vehicles is provided. The invention relates to a vehicle lane changing method for a multi-vehicle interaction operation rule in the lane changing process of vehicles. The method comprises the step of: setting the i-th vehicle as a target vehicle, setting (i-1)-th vehicle as a vehicle aheadof the target vehicle in a current lane, setting (i+1)-th vehicle as a vehicle behind the target vehicle in the current lane, setting the (j-1)th vehicle as a vehicle ahead of the target vehicle in aleft target lane in the driving direction of the target vehicle, and setting the j-th vehicle as a vehicle behind the target vehicle in the left target lane in the driving direction of the target vehicle; defining a driving constraint area and the interaction areas of multiple vehicles; calibrating a shape parameter; determining the overlapping area of the interaction area of the target vehicle and the surrounding vehicles