The invention relates to a vehicle lane changing control method and device, and the method comprises the steps: obtaining a first lane center line parameter in real time, and enabling the first lane center line parameter to represent a lane center line parameter used by a vehicle during driving along a first lane; when the vehicle meets the lane changing condition, a correction parameter changing along with time is determined, and the first lane center line parameter is corrected according to the correction parameter to obtain a virtual lane center line parameter; and according to the virtual lane center line parameter, controlling to change the vehicle from the first lane to a target lane. Therefore, a smooth virtual lane center line parameter is introduced, so that the lane can be changed smoothly.
本公开涉及车辆变道控制方法和车辆变道控制装置,该方法包括:实时获取第一车道中心线参数,其中所述第一车道中心线参数表示车辆沿第一车道行驶所用的车道中心线参数;在车辆满足变道条件时,确定随时间变化的校正参数,并根据所述校正参数对所述第一车道中心线参数进行校正以得到虚拟车道中心线参数;根据所述虚拟车道中心线参数进行控制以将所述车辆从所述第一车道变道为目标车道。由此,引入平滑的虚拟车道中心线参数,从而能够平稳地改变车道。
Vehicle lane changing control method and vehicle lane changing control device
车辆变道控制方法和车辆变道控制装置
2022-03-22
Patent
Electronic Resource
Chinese
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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