The invention relates to a vehicle lane changing method and device, electronic equipment and a storage medium. The method comprises the steps that the movement speed of each obstacle vehicle on a target lane is acquired; according to the movement speeds of every two adjacent obstacle vehicles, determining a reference trajectory of a neutral position between the obstacle vehicles; inputting the reference trajectory corresponding to each neutral position and each candidate lane changing starting point of the current vehicle into a preset quadratic programming model, optimizing the preset quadratic programming model, and determining a planned trajectory and a residual value of each neutral position relative to each candidate lane changing starting point; the minimum value of the residual values is determined, and the current vehicle is controlled to start from the candidate lane changing starting point corresponding to the minimum value and run according to the planning track corresponding to the minimum value so that the current vehicle can change the lane to the neutral position corresponding to the minimum value. Thus, if a barrier vehicle exists in the target lane and cannot change the lane, the vehicle can be inserted into the gap of the traffic flow of the target lane through acceleration and deceleration operations to complete lane change.

    本申请关于一种车辆变道方法、装置、电子设备及存储介质,包括:获取目标车道上每个障碍车辆的运动速度;根据每两个相邻的所述障碍车辆的运动速度,确定所述障碍车辆之间的空档的参考轨迹;将每个空档对应的参考轨迹及当前车辆的每个候选变道起始点输入至预设二次规划模型,对所述预设二次规划模型进行优化,确定每个空档相对于每个候选变道起始点的规划轨迹及残值;确定所述残值的最小值,控制所述当前车辆从所述最小值对应的候选变道起始点开始,按照所述最小值对应的规划轨迹行驶,以使所述当前车辆变道至所述最小值对应的空档。这样,如果目标车道存在障碍车辆而无法变道时,可以通过加减速操作插入目标车道的车流的空隙中完成变道。


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    Title :

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


    Additional title:

    一种车辆变道方法、装置、电子设备及存储介质


    Contributors:
    JIA MINGQIANG (author) / DU DALONG (author) / SHAN YI (author)

    Publication date :

    2024-03-12


    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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