The invention discloses a lane changing method and device, a vehicle and a storage medium. The method comprises the following steps: determining a lane changing track control parameter of a current vehicle, and generating at least one candidate lane changing track according to a current driving position of the current vehicle and the lane changing track control parameter; acquiring a predicted driving track of a lane changing obstacle of the current vehicle; determining a lane changing time window corresponding to each candidate lane changing track according to each candidate lane changing track and the predicted driving track; determining a target lane changing track from the at least one candidate lane changing track according to the lane changing time window corresponding to each candidate lane changing track; and executing a lane changing operation in the lane changing time window of the target lane changing track. According to the technical scheme, the problem that automatic lane changing is started only when the surrounding environment is absolutely safe in the prior art can be solved, more possibility of starting automatic lane changing can be achieved in a complex traffic scene, and the lane changing probability of automatic lane changing can be improved.
本发明公开了一种换道方法、装置、车辆及存储介质。该方法包括:确定当前车辆的换道轨迹控制参数,根据当前车辆的当前行驶位置和换道轨迹控制参数生成至少一条候选换道轨迹;获取当前车辆的换道障碍物的预测行驶轨迹;根据每条候选换道轨迹和预测行驶轨迹确定每条候选换道轨迹对应的换道时间窗口;根据每条候选换道轨迹对应的换道时间窗口从至少一条候选换道轨迹中确定出目标换道轨迹;在目标换道轨迹的换道时间窗口执行换道操作。本发明的技术方案能解决现有技术中仅在周围环境绝对安全时,才开启自动换道的问题,实现了在复杂交通场景下,也能有较多开启自动换道的可能性,并且能提高自动换道的换道概率。
Lane changing method and device, vehicle and storage medium
一种换道方法、装置、车辆及存储介质
2024-04-09
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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