The invention provides a lane changing control method and device for entering a ramp, a storage medium and an electronic device, and belongs to the field of vehicle control, and the method comprises the steps: recognizing whether a ramp scene exists in front of a target vehicle according to map navigation data; if the ramp scene exists in front of the driving vehicle, determining the number of spaced lanes of the target vehicle relative to a ramp entrance and the driving speed of the target vehicle; according to the number of the spaced lanes and the driving speed, selecting a lane changing opportunity for entering a ramp entrance from a plurality of opportunities to be selected, and calculating a lane changing corner according to the driving speed; and controlling the target vehicle to enter the ramp opening according to the lane changing time and the lane changing corner. According to the embodiment of the invention, the technical problem that the lane changing difficulty is large when the traffic flow density is large in the related technology is solved, multiple times of lane changing opportunities are flexibly created based on the number of the spaced lanes and the driving speed, the flexibility of ramp entering lane changing is improved, meanwhile, the passing efficiency and stability of vehicles are ensured, and the driving safety is improved. And the lane changing success rate and safety of the on-ramp scene are improved.
本发明提供了一种进入匝道的变道控制方法及装置、存储介质、电子装置,属于车辆控制领域,其中,该方法包括:根据地图导航数据识别目标车辆的行车前方是否存在匝道场景;若行车前方存在匝道场景,确定目标车辆相对匝道口的间隔车道数和目标车辆的行驶速度;根据间隔车道数和行驶速度在多个待选时机中选择进入匝道口的变道时机,以及根据行驶速度计算变道转角;根据变道时机和变道转角控制目标车辆进入匝道口。通过本发明实施例,解决了相关技术中车流密度较大时变道难度大的技术问题,基于间隔车道数和行驶速度灵活创造多次变道时机,提高了入匝道变道的灵活性,同时保证了车辆的通行效率和稳定性,提高了入匝道场景变道的成功率和安全性。
Lane changing control method and device for entering ramp, storage medium and electronic device
进入匝道的变道控制方法及装置、存储介质、电子装置
2023-09-19
Patent
Electronic Resource
Chinese
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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