The embodiment of the invention provides a lane changing method and device for an automatic driving vehicle, and the method comprises the steps: obtaining the first driving information of a target vehicle under the condition that a lane changing instruction of the target vehicle is received, and obtaining the second driving information of N obstacles located in a preset region on a target lane; the target lane is a target lane indicated by the lane changing instruction, and the preset area represents an area formed by a position on the target lane, the distance between the position and the target vehicle being smaller than or equal to a preset distance; determining a target lane changing area from S lane changing areas formed by the N obstacles according to the second driving information of the N obstacles; and controlling the target vehicle to change from the current lane to the target lane changing area of the target lane. In other words, when there is a lane changing demand, the reasonability of the lane changing area between the obstacles is pre-judged in advance along with the movement of the obstacles, so that the proper lane changing area is selected for lane changing, and the success rate of lane changing is improved.

    本发明实施例提供了一种自动驾驶车辆的变道方法及装置,该方法包括:在接收到目标车辆的变道指令的情况下,获取目标车辆的第一行驶信息,并获取目标车道上处于预设区域的N个障碍物的第二行驶信息;目标车道为变道指令所指示的目的车道,预设区域表征在目标车道上,与目标车辆的距离小于或等于预设距离的位置所形成的区域;根据N个障碍物的第二行驶信息,从N个障碍物形成的S个变道区域中确定目标变道区域;控制目标车辆由当前车道变道至目标车道的目标变道区域中。即在有变道需求时,随着障碍物的运动,提前预判障碍物之间的变道区域的合理性,从而选择合适的变道区域进行变道,提升变道的成功率。


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    Title :

    Lane changing method and device for autonomous vehicle


    Additional title:

    一种自动驾驶车辆的变道方法及装置


    Contributors:
    PAN JINYONG (author) / SHAN YI (author) / DU DALONG (author)

    Publication date :

    2023-12-22


    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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