The embodiment of the invention discloses a vehicle lane changing method and device, equipment and a storage medium. The method comprises the steps: building a topological relation according to a target map associated with a vehicle driving task of a target vehicle, and performing path searching according to the topological relation and the vehicle driving task to obtain a vehicle driving path, wherein the topological relation comprises a two-way connection relation between adjacent map lanes in the same direction in the target map; determining adjacent to-be-changed lanes from the vehicle driving lanes of the vehicle driving path, and determining a vehicle lane changing path according to the adjacent to-be-changed lanes; and adjusting the vehicle driving path according to the vehicle lane changing path, so that the target vehicle changes the lane when driving to the vehicle lane changing path according to the adjusted vehicle driving path. According to the technical scheme provided by the embodiment of the invention, the target vehicle bypasses the sealed lane in a lane changing manner when encountering road closure, so that the problem of bypassing and/or long-term driving in a dangerous lane section caused by road closure is solved.

    本发明实施例公开了一种车辆换道方法、装置、设备及存储介质。该方法包括:根据与目标车辆的车辆行驶任务关联的目标地图构建拓扑关系,并根据拓扑关系和车辆行驶任务进行路径搜索,得到车辆行驶路径,其中,拓扑关系包括目标地图中相邻且同方向的地图车道间的双向连接关系;从车辆行驶路径的各车辆行驶车道中确定相邻的待换道车道,并根据相邻的各待换道车道确定车辆换道路径;根据车辆换道路径对车辆行驶路径进行调整,以使该目标车辆根据调整后的车辆行驶路径行驶到车辆换道路径时进行换道。本发明实施例的技术方案,目标车辆在遇到封道时通过换道的方式绕开被封住的车道,解决了因为封道而带来的绕道和/或长期行驶在危险道段的问题。


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    Titel :

    Vehicle lane changing method and device, equipment and storage medium


    Weitere Titelangaben:

    一种车辆换道方法、装置、设备及存储介质


    Beteiligte:
    WANG HAORAN (Autor:in) / ZHANG LIANGLIANG (Autor:in)

    Erscheinungsdatum :

    2021-08-17


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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