The invention provides a vehicle lane merging method and device, electronic equipment and a storage medium, and the vehicle lane merging method comprises the steps: determining the position information of an effective vehicle and the speed information of the effective vehicle based on surrounding environment sensing information, and determining the position information of a front vehicle on a current lane based on the surrounding environment sensing information, the effective vehicles are vehicles on the target lane, and the effective vehicles comprise vehicles located in a preset detection range and vehicles located on the boundary of the preset range; determining an area between two vehicles in the effective vehicles as a candidate lane changing interval; determining an optimal lane changing interval from the first candidate lane changing interval set; and based on the information of the optimal lane changing interval, controlling the own vehicle to merge from the current lane to the optimal lane changing interval. According to the invention, vehicle lane merging can be completed under the high-speed crowded working condition, and the probability of missing the lane changing opportunity is reduced. And meanwhile, the optimal lane merging position can be selected, so that the lane merging safety is improved.

    本申请提供一种车辆并道方法、装置、电子设备和存储介质,其中,车辆并道方法包括:基于周边环境感知信息确定有效车辆的位置信息和有效车辆的速度信息,并基于周边环境感知信息确定当前车道上的前方车辆的位置信息,其中,有效车辆为目标车道上的车辆,有效车辆包括位于预设检测范围内的车辆和位于预设范围边界上的车辆;将有效车辆中的两个车辆之间的区域确定为候选变道区间;从第一候选变道区间集中确定最优变道区间;基于最优变道区间的信息,控制自车从当前车道并道至最优变道区间。本申请能够在高速拥挤的工况下完成车辆并道,并降低错过换道时机的概率。同时,本申请还能够在选择最佳并道位置,从而提高提高并道安全性。


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    Title :

    Vehicle lane merging method and device, electronic equipment and storage medium


    Additional title:

    车辆并道方法、装置、电子设备和存储介质


    Contributors:
    QIAN LEI (author) / YI HAIXIA (author) / LI RUNDONG (author) / CAI TIANYUAN (author) / GUAN FANGMING (author)

    Publication date :

    2023-08-01


    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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