The embodiment of the invention discloses a vehicle lane changing method, device and equipment and a storage medium, which can be used for the scene of automatic driving of vehicles on urban roads or expressways. The method comprises the steps that in a main road driving scene, if a preset lane changing condition (an associated vehicle exists in front or the vehicle needs to return to an original lane to drive after lane changing) is met, the lane changing distance is determined in a target preset area in a lane adjacent to a current lane including the associated vehicle according to the speed difference between a barrier vehicle and a target vehicle and preset lane changing time; and determining the reference distance according to the speed of the vehicle with the rear longitudinal position in the target vehicle and the associated vehicle and the time for determining the driving strategy when the vehicle faces the set traffic condition. And when the lane changing distance of each target preset area is greater than the corresponding reference distance, controlling the target vehicle to change the lane to the target lane. Compared with a lane changing strategy based on learning, the method is wide in application range, does not need a large amount of data processing, saves the lane changing time, and guarantees the safety of automatic driving.

    本申请实施例公开了一种车辆换道方法、装置、设备和存储介质,可用于城市公路或高速公路上自动驾驶车辆行驶的场景。该方法包括:在主路行驶场景中,若满足预设换道条件(前方存在关联车辆或换道后需回原车道行驶),在包括关联车辆的当前车道的相邻车道中的目标预设区域,根据障碍车与目标车的速度差和预设换道时间,确定换道距离;根据目标车辆和关联车辆中的纵向位置靠后的车的速度和表征该车面对设定交通状况时确定行驶策略的用时确定参考距离。在各目标预设区域的换道距离均大于对应的参考距离时,控制目标车辆换道至目标车道。与基于学习的换道策略相比,适用范围广,无需大量的数据处理,节约了换道时间,保证了自动驾驶的安全。


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    Title :

    Vehicle lane changing method, device and equipment and storage medium


    Additional title:

    一种车辆换道方法、装置、设备和存储介质


    Contributors:
    WANG ZIJIA (author) / HU HUAN (author)

    Publication date :

    2022-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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