The invention relates to a lane changing control method and device of a vehicle, a vehicle-mounted terminal and the vehicle. The method comprises the following steps: acquiring a current vehicle state of a target vehicle and environment information of an environment where the target vehicle is located; according to the current vehicle state and the environment information, evaluating the executability of each candidate vehicle action in the action space of the target vehicle to obtain a reward value of each candidate vehicle action; wherein the performability comprises at least one of necessity, security and efficiency. And selecting a target vehicle action from the candidate vehicle actions according to the reward value of each candidate vehicle action. And controlling the target vehicle to execute a lane changing strategy according to the current vehicle state, the environment information and the target vehicle action. The lane changing strategy executed by the target vehicle based on the control method can meet the conditions of necessity, safety, efficiency and the like at the same time, and the lane changing strategy is more reasonable.
本申请涉及一种车辆的换道控制方法、装置、车载终端和车辆。属于自动驾驶技术领域,方法包括:获取目标车辆的当前车辆状态和目标车辆所处环境的环境信息。根据当前车辆状态和环境信息,对目标车辆的动作空间中各候选车辆动作的执行性进行评估,得到各候选车辆动作的奖励值;其中,执行性包括必要性、安全性和效率中的至少一项。根据各候选车辆动作的奖励值,从各候选车辆动作中选择目标车辆动作。根据当前车辆状态、环境信息和目标车辆动作,控制目标车辆执行换道策略。基于本申请控制目标车辆执行的换道策略可同时满足必要性、安全性和效率等条件,换道策略更加合理。
Lane changing control method and device of vehicle, vehicle-mounted terminal and vehicle
车辆的换道控制方法、装置、车载终端和车辆
2024-03-15
Patent
Electronic Resource
Chinese
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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