The invention discloses a multi-vehicle cooperative lane changing method, device and equipment and a medium. Relates to the technical field of intelligent driving. Comprising the following steps: receiving a lane changing request of a networked vehicle in a target area; if the networked vehicle is necessary to carry out cooperative lane changing, adding a lane changing request of the networked vehicle into a message queue; the networked vehicle joining the message queue is the first vehicle; carrying out parallel calculation on each vehicle group; in each vehicle group range, performing unified matching calculation of auxiliary vehicles on all the first vehicles in the vehicle group to obtain a first matching result; if the first vehicle has the network connection vehicle matched with the first vehicle, cooperative strategy solving is carried out on the first vehicle and the network connection vehicle matched with the first vehicle, and a first solving result is obtained; and if the first solving result shows that the feasible cooperation strategy exists, issuing the feasible cooperation strategy to the first vehicle and the network connection vehicle matched with the first vehicle. According to the invention, the problem of lane change conflict generated when a plurality of connected vehicles initiate lane change requests can be solved.

    本发明公开了一种多车协同变道方法、装置、设备及介质。涉及智能驾驶技术领域。包括:接收目标区域内的网联车辆的变道请求;若网联车辆有必要进行协同变道,则将网联车辆的变道请求加入消息队列;加入消息队列的网联车辆为第一车辆;对各个车群进行并行计算;在每个车群范围内,分别对位于车群内的全部第一车辆进行辅助车辆的统一匹配计算,得到第一匹配结果;若第一车辆存在与之相匹配的网联车辆,则将第一车辆和与之相匹配的网联车辆进行协同策略求解,得到第一求解结果;若第一求解结果表示存在可行协同策略,则将可行协同策略下发给第一车辆和与之相匹配的网联车辆。本发明可以解决当有多辆网联车发起变道请求时,所产生的变道冲突问题。


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    Title :

    Multi-vehicle cooperative lane changing method, device, equipment and medium


    Additional title:

    多车协同变道方法、装置、设备及介质


    Contributors:

    Publication date :

    2023-10-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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