The invention belongs to the technical field of automatic driving, and discloses a vehicle lane changing control method, device and equipment and a storage medium. When the high-speed lane changing request is detected, the forward lane changing space margin of the target lane corresponding to the high-speed lane changing request is detected; if the forward lane changing space margin is greater than a preset lane changing space threshold value, selecting a reference vehicle in a backward lane changing space in the target lane; when the longitudinal spacing distance between the reference vehicle and the main vehicle is smaller than the original lane changing threshold value and larger than or equal to the lane changing attempt threshold value, the main vehicle is controlled to slowly approach the lane line, and the driving speed of the reference vehicle is obtained; and if the driving speed is smaller than the driving speed of the main vehicle, controlling the main vehicle to change the lane to the target lane. When the longitudinal spacing distance is between the original lane changing threshold value and the lane changing attempt threshold value, the vehicle tries to approach the lane line slowly, further judgment is carried out according to the driving speed, and lane changing processing is executed, so that the requirement of automatic lane changing of the vehicle for a backward lane changing space is reduced.

    本发明属于自动驾驶技术领域,公开了一种车辆变道控制方法、装置、设备及存储介质。本申请通过在检测到高速变道请求时,检测高速变道请求对应的目标车道的前向变道空间余量;若前向变道空间余量大于预设变道空间阈值,则在目标车道中的后向变道空间中选取参考车辆;在参考车辆与主车之间的纵向间隔距离小于原始变道阈值,且大于或等于变道尝试阈值时,控制主车缓慢靠近车道线,并获取参考车辆的行驶速度;若行驶速度小于主车行驶速度,则控制主车变道至目标车道。由于会在纵向间隔距离处于原始变道阈值及变道尝试阈值之间时,尝试缓慢靠近车道线,并根据行驶速度进行进一步判断,并执行变道处理,降低了车辆自动变道对后向变道空间的需求。


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    Title :

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


    Additional title:

    车辆变道控制方法、装置、设备及存储介质


    Contributors:
    CHEN QI (author) / ZOU YONGFENG (author)

    Publication date :

    2023-09-29


    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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