The embodiment of the invention discloses a lane changing control method for an automatic driving vehicle. The method comprises the steps that a first lane changing planning path used for controlling the automatic driving vehicle to change from a first lane to a second lane is acquired; acquiring position information of the autonomous vehicle based on the first lane changing planning path, and determining a first deviation degree of the position information relative to the first lane changing planning path; judging whether the offset degree is smaller than or equal to a first preset threshold value; if the first deviation degree is smaller than or equal to a first preset threshold value, first speed information for controlling the automatic driving vehicle to change the lane from the first lane to the second lane is generated; if the first deviation degree is greater than the first preset threshold value, generating a second lane changing planning path for changing from the lane where the position information is located to the second lane; therefore, the flexibility of lane changing path planning and the safety of the lane changing process are improved.
本说明书实施例公开了一种对于自动驾驶车的换道控制方法,包括:获取用于控制所述自动驾驶车从第一车道换道至第二车道的第一换道规划路径;获取自动驾驶车基于第一换道规划路径下的位置信息,确定该位置信息相对于第一换道规划路径的第一偏移程度;判断偏移程度是否小于或等于第一预设阈值;若第一偏移程度小于或等于第一预设阈值,则生成控制所述自动驾驶车由所述第一车道换道至所述第二车道的第一速度信息;若第一偏移程度大于所述第一预设阈值,则生成从所述位置信息所在的车道换道至所述第二车道的第二换道规划路径;从而提高了换道路径规划的灵活性和换道过程的安全性。
Lane changing control method and device for autonomous vehicle
一种对于自动驾驶车的换道控制方法及装置
2024-05-10
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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