Lane changing opportunity judgment and active safety control method for heterogeneous traffic flow confluence area

The invention belongs to the field of traffic control systems, and particularly provides a heterogeneous traffic flow confluence area lane changing opportunity judgment and active safety control method, which comprises the following steps of: obtaining running information and driver information of vehicles on a road; constructing a safety field model; constructing a minimum lane changing distance model based on the safety potential field; constructing a driving safety index based on the safety potential field; early-stage free lane changing of the upstream of the confluence area; and forced lane change and cooperative lane change of the acceleration lane in the confluence area. In combination with the problems of complex traffic conflicts, single lane changing merging strategy, lack of driving safety indexes and the like in key scenes such as existing confluence areas, the lane changing target position risk is measured by scalar quantities such as safety potential energy and potential energy change rate in co