The invention discloses a vehicle lane changing method, device and equipment. The method comprises the steps that firstly, environment information around a target vehicle is acquired; the method comprises the following steps: firstly, acquiring environment information, determining a target lane according to the environment information, then acquiring attribute information of each candidate lane changing area in the target lane, and determining a primarily selected candidate lane changing area set according to the attribute information of the candidate lane changing areas in the target lane; thirdly, calculating the cost corresponding to each candidate lane changing region in the primarily selected candidate lane changing region set by using a preset cost index; selecting a candidate lane changing area with the minimum cost as a target lane changing area; and determining a lane change driving track of the target vehicle according to the target lane change area, and controlling the target vehicle to drive according to the lane change driving track to complete lane change. Therefore, the lane changing success rate can be effectively improved, and the lane changing function experience of the user is improved.

    本申请公开了一种车辆换道方法、装置及设备,该方法包括:首先获取目标车辆周围的环境信息;并根据环境信息确定目标车道,然后,获取目标车道中各个候选换道区域的属性信息,并根据目标车道中候选换道区域的属性信息,确定初选的候选换道区域集合;接着,利用预设的代价指标,计算初选的候选换道区域集合中各个候选换道区域对应的代价;并从中选择代价最小的候选换道区域作为目标换道区域;进而可以根据目标换道区域确定出目标车辆的换道行驶轨迹,并控制目标车辆按照换道行驶轨迹进行行驶,完成换道。从而能够有效提高换道成功率,提高用户的换道功能体验。


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    Title :

    Vehicle lane changing method, device and equipment


    Additional title:

    一种车辆换道方法、装置及设备


    Contributors:
    RUAN YANDONG (author) / ZHU JUN (author) / HE MU (author) / CHEN CONG (author)

    Publication date :

    2023-04-14


    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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