The invention provides a control method and device of an automatic driving vehicle, electronic equipment and a storage medium, and relates to the technical field of computers, in particular to the technical field of intelligent traffic. According to the specific implementation scheme, in response to a detected lane changing instruction, under the condition that it is determined that the distance between the vehicle and an obstacle at the current moment meets a first distance condition, the vehicle is controlled to enter a lane changing driving mode, and the first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment; the lane changing driving mode represents a mode in which the vehicle executes lane changing operation; and in response to the detection that the vehicle is passing the lane line, controlling the vehicle to enter a target lane confluence mode under the condition of determining that the distance between the vehicle and the obstacle meets a second distance condition when the vehicle passes the lane line, the second distance condition being determined according to the speed of the vehicle and the speed of the obstacle when the vehicle passes the lane line, the target lane confluence mode represents a mode of confluence of the vehicle into the target lane.

    本公开提供了一种自动驾驶车辆的控制方法、装置、电子设备以及存储介质,涉及计算机技术领域,尤其涉及智能交通技术领域。具体实现方案为:响应于检测到变道指令,在确定车辆与障碍物在当前时刻的距离满足第一距离条件的情况下,控制车辆进入变道行驶模式,第一距离条件是根据当前时刻的车辆的速度和障碍物的速度确定的,变道行驶模式表征车辆执行变道操作的模式;响应于检测到车辆正在经过车道线,在确定车辆与障碍物在车辆过线时刻的距离满足第二距离条件的情况下,控制车辆进入目标车道汇入模式,第二距离条件是根据车辆过线时刻的车辆的速度和障碍物的速度确定的,目标车道汇入模式表征车辆汇入目标车道的模式。


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    Title :

    Control method and device of autonomous vehicle, electronic equipment and storage medium


    Additional title:

    自动驾驶车辆的控制方法、装置、电子设备以及存储介质


    Contributors:
    YANG HUANGRONG (author) / ZHANG KUAN (author)

    Publication date :

    2022-07-29


    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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