The invention discloses a speed changing and lane changing method, device and equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: determining a first vehicle distance between two adjacent vehicles in an own lane and a second vehicle distance between two adjacent vehicles in a target lane according to own vehicle driving data and driving data of surrounding vehicles; the target lane is a lane to be changed; obtaining driving prediction data for surrounding vehicles output by the novel gating model and acceleration for the own vehicle; the novel gating model takes driving data of surrounding vehicles as input; and according to the first vehicle distance, the second vehicle distance, the driving prediction data and the accelerated speed, determining a lane changing track and a target accelerated speed of the vehicle so as to carry out speed changing and lane changing according to the target accelerated speed and the lane changing track. The vehicle can be controlled to accelerate or decelerate to complete the lane changing process, the comfort of the lane changing process is improved, and the lane changing success rate is increased.

    本申请公开了一种变速变道方法、装置、设备及存储介质,涉及自动驾驶技术领域。该方法包括:根据自车行驶数据和周边车辆的行驶数据,确定自车道内相邻两辆车之间的第一车间距,以及目标车道内相邻两辆车之间的第二车间距;所述目标车道为待变道车道;获取新型门控模型输出的针对周边车辆的行驶预测数据,以及针对自车的加速度;所述新型门控模型以周边车辆的行驶数据为输入;根据所述第一车间距、所述第二车间距、所述行驶预测数据和所述加速度,确定自车的变道轨迹和目标加速度,以便根据所述目标加速度按照所述变道轨迹进行变速变道。能够控制车辆加速或减速完成变道过程,提高变道过程舒适性,提高变道成功率。


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    Title :

    Speed change and lane change method, device and equipment and storage medium


    Additional title:

    一种变速变道方法、装置、设备及存储介质


    Contributors:
    XU TIANYU (author) / LU YUKUN (author)

    Publication date :

    2023-08-29


    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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