The invention discloses an unmanned vehicle lane changing driving control method and system and a terminal, and relates to the technical field of unmanned automobiles, and the technical scheme is characterized in that the method comprises the steps: a first road image and a second road image are obtained; driving condition information is extracted from the first road image, a pre-driving threshold value, a front actual distance and a front vehicle monitoring speed are determined from the driving condition information, and a rear actual distance and a rear vehicle monitoring speed are determined from the second road image; the minimum lane changing deviation angle and the corresponding actual lane changing time are calculated according to the consistency of the ratio of the front actual distance to the rear actual distance before and after lane changing of the target vehicle, and a lane changing control response value is calculated according to the actual lane changing time; and if the absolute value of the lane changing control response value is smaller than or equal to the absolute value of the driving control response value of the current lane, a lane changing control signal is output. According to the invention, the safety and stability of lane changing control are effectively improved, and the influence on other vehicles is reduced.

    本发明公开了一种无人驾驶车辆变道行驶控制方法、系统及终端,涉及无人驾驶汽车技术领域,其技术方案要点是:获取第一道路图像以及第二道路图像;从第一道路图像中提取行驶状况信息,并从行驶状况信息中确定预驾驶阈值、前实际距离和前车监测速度,以及从第二道路图像中确定后实际距离和后车监测速度;以目标车辆变道前后的前、后实际距离之比一致计算得到最小化的变道偏移角度及对应的实际变道时间,并依据实际变道时间计算得到变道控制响应值;根据变道控制响应值的绝对值小于或等于当前车道的行驶控制响应值的绝对值,则输出变道控制信号。本发明有效提高了变道控制的安全性、稳定性,以及降低了对其他车辆的影响。


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    Titel :

    Unmanned vehicle lane changing driving control method, system and terminal


    Weitere Titelangaben:

    一种无人驾驶车辆变道行驶控制方法、系统及终端


    Erscheinungsdatum :

    2021-10-15


    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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