The invention provides a lane changing control method and device based on a vehicle automatic lane changing auxiliary function and an automobile. The method comprises the steps that when the vehicle is controlled to execute lane changing based on the automatic lane changing auxiliary function, the yaw angle of the vehicle is reset, and the real-time yaw angle is obtained according to the yaw rate of the vehicle; the running state of the automatic lane changing auxiliary function is monitored, if the running state is an abnormal exit state, a continuous alarm is given, and a steering wheel is controlled according to the real-time yaw angle so as to control the vehicle to run in the state that the yaw rate and the real-time yaw angle are both zero; wherein if it is detected that the driver takes over the vehicle during the continuous alarm period, the vehicle is controlled according to the operation information of the driver. According to the method, the driving safety when the automatic lane changing auxiliary function of the vehicle abnormally exits and a driver cannot take over the vehicle in time is improved.

    本申请提供一种基于车辆自动变道辅助功能的变道控制方法、装置及汽车。该方法包括:在车辆基于所述自动变道辅助功能控制车辆执行变道时,将所述车辆的偏航角清零,并根据所述车辆的偏航率获取实时偏航角;监控所述自动变道辅助功能的运行状态,若所述运行状态为异常退出状态,则发出持续报警,并根据所述实时偏航角控制方向盘,以控制所述车辆在所述偏航率和所述实时偏航角均为零的状态下行驶;其中,若在持续报警期间,检测到驾驶员接管所述车辆,则根据驾驶员的操作信息控制车辆。本申请的方法,提高了车辆自动变道辅助功能在异常退出时,驾驶员未能及时接管车辆过程时的行车安全。


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    Title :

    Lane changing control method and device based on vehicle automatic lane changing auxiliary function and automobile


    Additional title:

    基于车辆自动变道辅助功能的变道控制方法、装置及汽车


    Contributors:
    WANG XIANG (author) / SHAO JUNQIAO (author) / MORITA MITSUHIKO (author) / WANG YE (author) / WANG XIAOHUI (author)

    Publication date :

    2022-12-13


    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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