The invention discloses a vehicle lane changing method and device and a vehicle. The method comprises the following steps: acquiring driving information of a vehicle; the driving information is converted, a plurality of first displacements are obtained, the first displacements are used for representing the displacements of the vehicle driving in the preset direction in different lane changing stages, and the lane changing stages are obtained by dividing the lane changing process of the vehicle; a vehicle lane changing curve is generated based on the multiple first displacements, and the vehicle lane changing curve is used for representing a change curve of the torsion angle of a steering wheel in the lane changing process of the vehicle; and the vehicle lane changing curve is input into a steering controller, and vehicle lane changing is controlled. The technical problem that the flexibility of a strategy for assisting a driver in vehicle lane changing is poor in the prior art is solved.

    本发明公开了一种车辆换道方法、装置和车辆。其中,该方法包括:获取车辆的行驶信息;对行驶信息进行转换,得到多个第一位移,其中,第一位移用于表征车辆在不同换道阶段中,在预设方向上行驶过的位移,换道阶段是对车辆的换道过程进行划分得到的;基于多个第一位移生成车辆换道曲线,其中,车辆换道曲线用于表征车辆在换道的过程中,方向盘的扭转角度的变化曲线;将车辆换道曲线输入至转向控制器中,控制车辆换道。本发明解决了相关技术中辅助驾驶员进行车辆换道的策略的灵活性差的技术问题。


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    Title :

    Vehicle lane changing method and device and vehicle


    Additional title:

    车辆换道方法、装置和车辆


    Contributors:
    LI WEINAN (author) / LIU BIN (author) / WU HANGZHE (author) / CHEN BO (author) / WANG YE (author) / WANG GENG (author) / LI XIAOJIANG (author)

    Publication date :

    2023-07-21


    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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