The invention discloses a cooperative lane changing method, a vehicle lane changing cooperation method and device and a vehicle. The first vehicle sends a lane changing intention message to the outside through the V2X technology; determining the relative orientation of the two vehicles based on the position information of the first vehicle and the second vehicle; judging whether the first vehicle needs to be interactively and cooperatively controlled to change lanes or not according to the relative direction; if it is determined that interaction cooperation is needed, the first vehicle receives own driving control information generated after the second vehicle calculates collision parameters based on the dynamic and static parameters of the two vehicles; the first vehicle determines own control suggestion information based on the driving control information of the second vehicle; and the first vehicle performs driving control of the next stage according to the control suggestion information. According to the method and the system, the vehicles are subjected to interactive cooperation through the V2X technology to confirm that the lane changing operation or the straight running operation should be adopted, and compared with a traditional lane changing decision-making mode depending on subjective experience and response time of a driver, the accuracy, the real-time performance and the safety of vehicle-road cooperative lane changing are higher.
本申请公开了一种协作式变道方法、车辆变道协作方法、装置及车辆。第一车辆通过V2X技术对外发送变道意图消息;基于第一车辆和第二车辆位置信息确定两车相对方位;根据相对方位判断第一车辆是否需交互协作操控变道行车;若确定需交互协作,第一车辆接收第二车辆基于两车动静态参数计算出碰撞参数后生成的自身行车操控信息;第一车辆基于第二车辆的行车操控信息确定自身的操控建议信息;第一车辆根据操控建议信息进行下一阶段的行车操控。本申请中车辆通过V2X技术交互协作确认应当采取变道操作或直行操作,相比于传统的依赖于驾驶员主观经验及反应时间的变道决策方式,车路协同变道的准确性、实时性和安全性更高。
Cooperative lane changing method, vehicle lane changing cooperation method and device and vehicle
一种协作式变道方法、车辆变道协作方法、装置及车辆
27.09.2024
Patent
Elektronische Ressource
Chinesisch
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