The invention discloses a lane changing control method and device for a highway network-connected autonomous vehicle to get off an exit ramp, and a storage medium. The control method comprises the following steps: dividing a free lane changing area and a forced lane changing area in an area near the exit ramp; judging whether the target vehicle is divided into a free lane changing area or a forced lane changing area according to the current position of the target vehicle; acquiring a predicted surrounding vehicle state; if the vehicle enters the free lane changing area, whether the lane changing distance on the target lane meets the requirement or not is determined based on the surrounding vehicle state, and if yes, lane changing track planning is conducted through a lane changing track planning model till the vehicle reaches the target lane; if the lane changing distance on the target lane does not meet the lane changing requirement, not changing the lane; if the vehicle enters the forced lane changing area, collaborative lane changing track planning is carried out, and a new vehicle track is planned until the vehicle reaches a lane changing track end point. According to the method, lane changing and track planning of the CAV are integrated, the passing efficiency of the highway main line is improved, and meanwhile, the safety and comfort in the lane changing process of the vehicle are improved.

    本发明公开了一种高速公路网联自动驾驶汽车下出口匝道换道控制方法、设备及存储介质,控制方法包括:在出口匝道附近区域划分出自由换道区和强制换道区;根据目标车辆当前所处位置判断被划分至自由换道区或强制换道区;获取预测周围车辆状态;如果进入自由换道区,基于周围车辆状态,确定目标车道上的换道间距是否满足要求,如果满足,通过换道轨迹规划模型进行换道轨迹规划,直至到达目标车道;如果目标车道上的换道间距不满足换道要求,则不换道;如果进入强制换道区,进行协同换道轨迹规划,规划新的车辆轨迹,直至到达换道轨迹终点。本发明综合CAV的换道和轨迹规划,提高了高速公路主线通行效率的同时提高了车辆换道过程中安全性、舒适性。


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    Title :

    Lane changing control method and device for highway network-connected automatic driving vehicle to go off ramp and exit ramp and storage medium


    Additional title:

    高速公路网联自动驾驶汽车下出口匝道换道控制方法、设备及存储介质


    Contributors:
    ZHANG ZHAOLEI (author) / HAO WEI (author) / XIE QINGYUAN (author) / ZHAO HONGLIANG (author)

    Publication date :

    2024-03-19


    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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