The invention provides a vehicle lane changing control method, device and equipment and a storage medium, the current driving speed, the adjacent driving speed and the relative distance between the current vehicle and the adjacent vehicle are obtained, the lane changing state of the current vehicle is determined based on the current driving speed, the adjacent driving speed and the relative distance, and when the lane changing state is not allowed, the vehicle lane changing control method is started. Calculating predicted positions of the current vehicle at a plurality of future moments based on the current driving speed and the relative distance, generating a travelable predicted trajectory, constructing constraint conditions, converting the travelable predicted trajectory into a planned driving trajectory according to the constraint conditions, and when the driving state of the planned driving trajectory is safe, determining the driving state of the vehicle. And controlling the current vehicle to run based on the planned running track, actively creating a lane changing condition by controlling the running track of the current vehicle under the condition that the current vehicle has no lane changing opportunity through the speed and the relative distance of the current vehicle and the adjacent vehicle, and controlling the current vehicle to change a lane based on the obtained planned track.

    本发明提供一种车辆变道控制方法、装置、设备及存储介质,通过获取当前驾驶速度、邻近驾驶速度,以及当前车辆和邻近车辆之间的相对距离,基于当前驾驶速度、邻近驾驶速度和相对距离,确定当前车辆的变道状态,并在变道状态为不允许时,基于当前驾驶速度和相对距离计算当前车辆的在多个未来时刻的预测位置,生成可行驶预测轨迹,并构建约束条件,根据约束条件将可行驶预测轨迹转换为规划行驶轨迹,当规划行驶轨迹的行驶状态为安全时,控制所述当前车辆基于所述规划行驶轨迹行驶,通过当前车辆和邻近车辆的速度和相对距离,在当前车辆没有变道机会的情况下,通过控制当前车辆的行驶轨迹主动创造变道条件,并基于得到的规划轨迹控制当前车辆变道。


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    Title :

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


    Additional title:

    一种车辆变道控制方法、装置、设备及存储介质


    Contributors:
    XIAO KAIXING (author) / QIU LIHONG (author) / LI WANHONG (author) / SUN ZHENGHAI (author)

    Publication date :

    2023-06-23


    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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