The invention provides a vehicle two-stage lane changing control method, device and equipment. A server obtains state parameters of a front vehicle of a current lane and state parameters of a front vehicle and a rear vehicle of a target lane. And determining a lane changing track according to the lane changing strategy, and determining a first key point and a second key point on the lane changing track. When it is determined that constant-speed lane changing cannot be achieved, the direction which does not meet the safety distance constraint is determined, a speed changing strategy is determined according to the direction which does not meet the safety distance constraint, and whether the lane changing self-vehicle meets the safety distance constraint at the first key point and the second key point according to the speed changing strategy or not is sequentially judged. And if the safe distance constraint is met, controlling the self-vehicle to change the lane according to the lane changing track and the speed changing strategy. And if any one does not meet the safety distance constraint, controlling the self-vehicle to run along with the vehicle.

    在本说明书提供的一种车辆两阶段换道控制方法、装置及设备中,由服务器获取当前车道的前车以及目标车道前车及后车的状态参数。根据换道策略,确定换道轨迹,并确定在所述换道轨迹上第一关键点以及第二关键点。当确定无法匀速换道时,确定不满足安全距离约束的方向,根据所述不满足安全距离约束的方向,确定变速策略,依次判断按照变速策略换道自车在第一关键点处和在第二关键点处是否满足安全距离约束。若均满足安全距离约束,则按照换道轨迹以及变速策略控制所述自车换道。若任一不满足安全距离约束,控制所述自车跟车行驶。


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    Titel :

    Vehicle two-stage lane changing control method, device and equipment


    Weitere Titelangaben:

    一种车辆两阶段换道控制方法、装置及设备


    Beteiligte:
    LI YONGQIANG (Autor:in) / LYU YANG (Autor:in) / LYU QIANG (Autor:in) / MIAO QIANKUN (Autor:in)

    Erscheinungsdatum :

    2024-01-30


    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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