The invention is suitable for the technical field of automatic driving, and provides an automatic driving lane changing method and device and terminal device.The method comprises the steps that when it is determined that the road type of a current road of a target vehicle at a current lane is changed according to current vehicle information and current road information of the target vehicle, the current lane is changed; determining that the target vehicle generates a lane changing intention; determining a target lane for lane change according to the road type change direction corresponding to the current road and the current road information; when the target lane meets the lane changing condition, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information; and controlling the target vehicle to change the lane to the target lane within the safety boundary. Therefore, autonomous lane changing is carried out when the road type changes, so that the driving safety of the vehicle is ensured, and the safety and practicability of automatic driving are improved.

    本申请适用于自动驾驶技术领域,提供了一种自动驾驶的变道方法、装置及终端设备,该方法包括:在根据目标车辆的当前车辆信息及当前道路信息,确定目标车辆的当前所在道路在当前所在车道处的路型发生变化时,确定目标车辆产生变道意图;根据当前所在道路对应的路型变化方向与当前道路信息,确定用于变道的目标车道;在目标车道满足变道条件时,根据当前车辆信息与当前道路信息,确定目标车辆对应的安全边界;控制目标车辆在安全边界内变道至目标车道。由此,通过在路型发生变化时进行自主变道,以保证车辆的行驶安全,从而提升了自动驾驶的安全性与实用性。


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    Title :

    Lane changing method and device for automatic driving, terminal equipment and storage medium


    Additional title:

    自动驾驶的变道方法、装置、终端设备及存储介质


    Contributors:
    ZHAO SHIQIANG (author) / GAO JIAN (author) / LIU ZIWEI (author) / MA XIAOQIANG (author) / PENG SHULI (author) / GAO JIE (author)

    Publication date :

    2024-04-09


    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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