The invention provides a vehicle lane changing control method, a vehicle lane changing control device and a vehicle. The vehicle lane changing control method comprises the following steps: determiningthe current driving state of the vehicle; obtaining candidate driving states; determining lane changing cost and speed cost for switching from the current driving state to each candidate driving state; determining a first weight corresponding to the lane changing cost and a second weight corresponding to the speed cost according to the traffic flow density; calculating switching costs based on the lane changing cost for switching from the current driving state to each candidate driving state, the first weight, the speed cost and the second weight; determining the lowest switching cost from all the switching costs, and taking the candidate driving state corresponding to the lowest switching cost as a target driving state; and setting the next driving state of the vehicle as the target driving state. Automatic or semi-automatic lane changing of the vehicle can be realized, and comfortable and efficient driving experience is provided.

    本发明提供一种车辆变道控制方法、装置及车辆。车辆变道控制方法包括:确定车辆的当前行驶状态;获取候选行驶状态;确定由当前行驶状态切换至各候选行驶状态的变道成本和速度成本;根据交通流密度,确定变道成本所对应的第一权重以及速度成本所对应的第二权重;基于自当前行驶状态切换至各候选行驶状态的变道成本、第一权重、速度成本和第二权重,计算切换成本;从所有切换成本中确定最低切换成本,将最低切换成本对应的候选行驶状态作为目标行驶状态;设定车辆的下一行驶状态为目标行驶状态。本发明可实现车辆自动或半自动的完成变道,提供更加舒适、高效的行驶体验。


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    Titel :

    Vehicle lane changing control method, vehicle lane changing control device and vehicle


    Weitere Titelangaben:

    一种车辆变道控制方法、装置及车辆


    Beteiligte:
    WU PENG (Autor:in) / ZHU KEYIN (Autor:in) / CHEN YONGCHUN (Autor:in) / ZHANG YINGHAN (Autor:in) / ZOU XIN (Autor:in) / HUANG WEI (Autor:in) / CAO RUNZI (Autor:in)

    Erscheinungsdatum :

    2020-04-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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