The invention provides a vehicle lane changing control method, device and equipment and a storage medium, and the method comprises the steps: obtaining a target real-time vehicle speed of a target vehicle, and a reference real-time vehicle speed and a reference real-time distance of a reference vehicle in a process that the target vehicle is changed from a current lane to a target lane; according to the target real-time vehicle speed, the reference real-time vehicle speed and the reference real-time distance, the real-time collision time of the target vehicle and each reference vehicle in the lane changing process is determined, and if the real-time collision time of each reference vehicle is larger than a second preset time threshold value and the real-time collision time of each reference vehicle is smaller than a first preset time threshold value, the target vehicle is determined to be in a lane changing state. And controlling the target vehicle to maintain the current driving state and enter a vehicle following cruising state, so that the vehicle can be controlled to run by pressing the line and play the target lane of the target lane to slow down and give way by monitoring the real-time collision time in real time when the real-time collision time does not meet the lane changing requirement in a congestion scene. Therefore, safe and efficient lane changing of the vehicle in a congestion scene is ensured.

    本申请提供一种车辆换道控制方法、装置、设备及存储介质,该方法通过在目标车辆由当前车道换道至目标车道过程中,获取目标车辆的目标实时车速,参考车辆的参考实时车速和参考实时距离,根据目标实时车速、参考实时车速和参考实时距离确定目标车辆的换道过程中与各参考车辆的实时碰撞时间,若各参考车辆的实时碰撞时间大于第二预设时间阈值,且各参考车辆的实时碰撞时间小于第一预设时间阈值,控制目标车辆保持当前行驶状态,进入跟车巡航状态,能够实现在拥堵场景下,通过实时监测实时碰撞时间,当实时碰撞时间不满足换道要求,通过控制车辆压线行驶,博弈目标车道的目标车道后车减速让行,以保证安全高效的实现车辆在拥堵场景下的换道。


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    Title :

    Vehicle lane changing control method, device and equipment and storage medium


    Additional title:

    车辆换道控制方法、装置、设备及存储介质


    Contributors:
    CHEN QING (author) / LIU YUXIANG (author) / CHENG JUNJUN (author) / LI YU (author)

    Publication date :

    2023-04-04


    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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