The invention provides a lane changing method and device for a vehicle, and the method comprises the steps: obtaining future motion state information which comprises the motion state information of a first target vehicle, a plurality of second target vehicles and a plurality of third target vehicles at all future moments; a gap planning model is established, a constraint condition and a loss function corresponding to the planning model are obtained, and the gap is the distance between the second target vehicle and the third target vehicle; inputting the future motion state information into the planning model, and calculating the optimal lane changing motion state information of the vehicle waiting for lane changing according to the constraint condition and the loss function; and at least according to the optimal lane changing motion state information, the vehicle waiting for lane changing is controlled to change into a target gap in the lane changing process, and the target gap is the gap corresponding to the optimal lane changing motion state information. The problem that in the prior art, an automatic driving vehicle lacks of determining a better lane changing environment during lane changing is solved.

    本申请提供了一种车辆的变道方法以及变道装置,该方法包括:获取将来运动状态信息,将来运动状态信息包括第一目标车辆、多个第二目标车辆以及多个第三目标车辆在各将来时刻的运动状态信息;建立空隙的规划模型,并获取规划模型对应的约束条件以及损失函数,其中,空隙为第二目标车辆与第三目标车辆之间的距离;将将来运动状态信息输入规划模型,并根据约束条件以及损失函数,计算待变道车辆的最优变道运动状态信息;至少根据最优变道运动状态信息,控制待变道车辆在变道过程中变道至目标空隙中,目标空隙为最优变道运动状态信息对应的空隙。本申请解决了现有技术中自动驾驶车辆在变道时缺乏确定较佳变道环境的问题。


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    Titel :

    LANE CHANGE METHOD AND LANE CHANGE DEVICE FOR VEHICLE


    Weitere Titelangaben:

    车辆的变道方法以及变道装置


    Beteiligte:
    LI SIZE (Autor:in)

    Erscheinungsdatum :

    2022-07-19


    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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