The invention provides a vehicle lane changing anti-collision method, device and equipment and a storage medium, and the method comprises the steps: obtaining the longitudinal relative distance and relative speed of a barrier vehicle on a target changing lane and a vehicle waiting for lane changing relative to each barrier vehicle; calculating predicted lane changing time and safe lane changing time according to the preset longitudinal safe lane changing distance, the longitudinal relative distance and the relative speed; comparing the predicted lane changing time with the safe lane changing time, and determining whether the vehicle waiting for lane changing starts lane changing operation or not; if the lane changing operation is started, monitoring and predicting the remaining time of lane changing and the remaining time of safe lane changing in real time; and comparing the predicted lane changing remaining time with the safe lane changing remaining time, and determining a target longitudinal lane changing speed of the vehicle waiting for lane changing, so that the vehicle waiting for lane changing continues to change lanes according to the target longitudinal lane changing speed. The relative state between the vehicle waiting for lane changing and the obstacle vehicle is monitored in real time, the lane changing speed of the vehicle waiting for lane changing is changed in real time, and collision with the obstacle vehicle is actively avoided.
本申请提供一种车辆变道防碰撞方法、装置、设备及存储介质,其中,该方法包括:获取目标变更车道上的障碍车辆和待变道车辆相对于各障碍车辆的纵向相对距离和相对速度;根据预设纵向安全变道距离、纵向相对距离和相对速度,计算预测变道时间和安全变道时间;将预测变道时间和安全变道时间进行比较,确定待变道车辆是否启动变道操作;若启动变道操作,则实时监测预测变道剩余时间和安全变道剩余时间;将预测变道剩余时间和安全变道剩余时间进行比较,确定待变道车辆的目标纵向变道速度,以使待变道车辆根据目标纵向变道速度继续变道。通过实时监测待变道车辆与障碍车辆之间的相对状态,实时改变待变道车辆的变道速度,主动避免与障碍车辆的碰撞。
Vehicle lane changing anti-collision method, device and equipment and storage medium
车辆变道防碰撞方法、装置、设备及存储介质
2023-09-15
Patent
Elektronische Ressource
Chinesisch
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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