The invention discloses a vehicle lane changing method and device, electronic equipment and a readable storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: determining a lane in a nearest intersection along a navigation path as a target lane under the condition that a specified distance is greater than a threshold distance, the specified distance is the distance between the current position of the vehicle and the nearest intersection; obtaining a first lateral offset between the target lane and each alternative lane, wherein the alternative lanes are lanes in the current position area of the vehicle; searching a minimum first transverse offset as a target transverse offset; determining a recommended lane according to an alternative lane corresponding to the target transverse offset; and controlling the vehicle to change the lane to the recommended lane. The recommended lane is determined by combining the current lane of the vehicle with the target lane, the recommended lane can be determined without depending on a high-precision map, the cost is low, and the determined recommended lane has high accuracy.
本申请公开了一种车辆换道方法、装置、电子设备及可读存储介质,涉及自动驾驶技术领域,包括:在指定距离大于阈值距离的情况下,确定沿导航路径的最近路口中的车道,作为目标车道,所述指定距离为车辆当前位置与所述最近路口之间的距离;获取所述目标车道与每个备选车道的第一横向偏移量,所述备选车道为车辆当前位置区域中的车道;查找最小的第一横向偏移量,作为目标横向偏移量;根据所述目标横向偏移量对应的备选车道确定推荐车道;控制所述车辆换道至推荐车道。结合车辆当前所在车道与目标车道确定推荐车道,不依赖于高精度地图即可确定推荐车道,成本较低,且确定的推荐车道具有较高准确度。
Vehicle lane changing method and device, electronic equipment and readable storage medium
车辆换道方法、装置、电子设备及可读存储介质
2024-08-06
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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