The invention relates to the technical field of path planning, in particular to a lane changing control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the lane changing stage, the vehicle speed, the lane changing direction and the lane curvature of the vehicle; determining a current lane changing scene of the vehicle according to the lane changing direction and the lane curvature; according to at least one of the lane changing stage, the vehicle speed and the current lane changing scene, the target transverse adjustment amplitude of the vehicle in the current lane changing stage is determined, and the transverse change amplitude of the vehicle during lane changing is controlled according to the target transverse adjustment amplitude. Therefore, the problems that parameters of a path planning algorithm cannot be decoupled for different lane changing scenes, and the stability of vehicle lane changing is poor in the prior art are solved.
本申请涉及路径规划技术领域,特别涉及一种换道控制方法、装置、车辆及存储介质,其中,方法包括:获取车辆的换道阶段、车速、换道方向和车道曲率;根据换道方向和车道曲率确定车辆的当前换道场景;根据换道阶段、车速和当前换道场景的至少一个,确定车辆在当前换道阶段的目标横向调整幅度,根据目标横向调整幅度控制车辆换道时的横向变化幅度。由此,解决了相关技术中路径规划算法对于不同换道场景,参数无法解耦,存在车辆换道稳定性差等问题。
Lane changing control method and device, vehicle and storage medium
换道控制方法、装置、车辆及存储介质
2024-08-16
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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