The invention discloses a vehicle lane changing control method and device, electronic equipment and a storage medium. The method comprises the steps that when a current vehicle triggers lane changing, an initial vehicle position point, a target lane changing position point and a preset steering wheel turning angle threshold value are obtained; according to the initial vehicle position point, the target lane changing position point and a preset steering wheel turning angle threshold value, dynamically planning a lane changing track of the current vehicle to obtain at least one candidate lane changing track; candidate lane changing track points on the candidate lane changing tracks correspond to speed change degrees and curvature change degrees; according to the speed change degree and the curvature change degree corresponding to each candidate lane changing track point, screening each candidate lane changing track to obtain a target lane changing track; and controlling the current vehicle to change the lane along the target lane changing track. According to the technical scheme, the safety of the lane changing process of the automatic driving vehicle and the stability of the vehicle are improved.

    本发明公开了一种车辆换道控制方法、装置、电子设备及存储介质。该方法包括:在当前车辆触发换道时,获取初始车辆位置点、目标换道位置点和预设方向盘转角阈值;根据初始车辆位置点、目标换道位置点和预设方向盘转角阈值,对当前车辆的换道轨迹进行动态规划,得到至少一个候选换道轨迹;候选换道轨迹上的候选换道轨迹点对应有速度变化程度和曲率变化程度;根据各候选换道轨迹点对应的速度变化程度和曲率变化程度,对各候选换道轨迹进行筛选,得到目标换道轨迹;控制当前车辆沿着目标换道轨迹进行换道。本发明实施例的技术方案提高了自动驾驶车辆换道过程的安全性和车辆的稳定性。


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    Title :

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


    Additional title:

    车辆换道控制方法、装置、电子设备及存储介质


    Contributors:
    PAN JIAN (author) / YANG SHOUCHEN (author) / HAO ZHI (author) / WANG YANG (author) / CAO HAIQIANG (author) / QU YI (author) / WANG JINGYI (author) / ZHANG YUXUAN (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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