The invention discloses a vehicle lane changing method, device and equipment and a computer readable storage medium, and is applied to the technical field of intelligent control, and the method comprises the steps: determining an expected acceleration, a target position, a lane changing feasible region length and a lane changing feasible region position corresponding to each lane changing feasible region, and determining a vehicle distance corresponding to the current lane changing feasible region; based on the vehicle distance, the lane changing feasible region length and the lane changing feasible region position, the cost of each lane changing feasible region is determined, and the lane changing feasible region corresponding to the lowest cost serves as a target lane changing feasible region; and executing the steps on the basis of an interval search strategy until the target position is smaller than a preset distance, comparing the length of the target lane changing feasible region with a preset lane changing length, and controlling the target vehicle to change lanes on the basis of a comparison result. According to the method, by comparing the selection logic of the lane change feasible region between the two frames, the occurrence of ghost animal type acceleration and deceleration is reduced or even avoided, and the lane change safety is improved through an interval type search strategy.

    本发明公开了一种车辆变道方法、装置、设备及计算机可读存储介质,应用于智能控制技术领域,包括:确定每个变道可行域对应的期望加速度、目标位置、变道可行域长度和变道可行域位置,确定当前变道可行域对应的车辆间距;基于车辆间距、变道可行域长度和变道可行域位置,确定各个变道可行域的成本,并将最低成本对应的变道可行域作为目标变道可行域;基于间隔式搜索策略执行上述步骤,直至目标位置小于预设距离时,将目标变道可行域的长度与预设变道长度进行对比,并基于对比结果控制目标车辆进行变道。本申请通过比较两帧间变道可行域的选择逻辑,减少甚至避免鬼畜式加减速的发生,并通过间隔式搜索策略提高变道的安全性。


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    Title :

    Vehicle lane changing method, device and equipment and computer readable storage medium


    Additional title:

    一种车辆变道方法、装置、设备及计算机可读存储介质


    Contributors:
    XU TIANYU (author) / HAN JIN (author) / LIU JIAQI (author)

    Publication date :

    2024-08-09


    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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