The invention relates to the technical field of vehicle control, and discloses a vehicle lane changing method and system, a vehicle and a storage medium, the method comprises the following steps: obtaining vehicle information of a lane changing vehicle, all lane information of a current driving road and a target detection result, the target detection result comprising an obstacle target on each lane; performing region division on each lane based on the target detection result to obtain a plurality of feasible regions; determining a lane changing safety distance based on the vehicle information and the lane information; determining adjacent feasible regions and lane changing weights corresponding to the adjacent feasible regions based on all the feasible regions, the lane changing safety distance and the lane information; screening a lane changing path of the lane changing vehicle based on the vehicle information, the adjacent feasible regions and the corresponding lane changing weights; determining a lane changing path of the lane changing vehicle based on the lane changing path and the lane information; and controlling the lane changing vehicle to run along the lane changing path. According to the method, the pose requirement of vehicle lane changing can be considered, the reasonability of lane changing decision making is improved, and the lane changing safety of the vehicle is guaranteed.

    本发明涉及车辆控制技术领域,公开了一种车辆变道方法、系统、车辆及存储介质,方法包括:获取变道车辆的车辆信息、当前行驶道路的所有车道信息和目标检测结果,目标检测结果包括每个车道上的障碍物目标;基于目标检测结果对各车道进行区域划分,得到多个可行区域;基于车辆信息和车道信息,确定变道安全距离;基于所有可行区域、变道安全距离和车道信息,确定相邻的可行区域及其对应的变道权重;基于车辆信息、相邻的可行区域及其对应的变道权重,筛选变道车辆的可变道路径;基于可变道路径与车道信息确定变道车辆的变道路径;控制变道车辆沿变道路径行驶。通过本发明能够考虑车辆变道的位姿要求,提高了变道决策的合理性,保障了车辆变道安全。


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    Title :

    Vehicle lane changing method and system, vehicle and storage medium


    Additional title:

    一种车辆变道方法、系统、车辆及存储介质


    Contributors:
    XIANG WANG (author) / ZHAO YU (author) / WANG PENGCHENG (author) / QIU JIE (author)

    Publication date :

    2024-03-15


    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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