The invention relates to the technical field of vehicles, in particular to a lane changing track control method and device, equipment, a storage medium and a program product, and the method comprises the steps: obtaining the driving data of a vehicle at the current moment in the lane changing process; predicting the vehicle position at the next moment according to the driving data; determining a prediction track according to the vehicle position at the current moment and the vehicle position at the next moment; calculating an included angle between the predicted track and an expected driving track of the vehicle, calculating an error distance between the vehicle position at the next moment and an expected position according to the included angle, and controlling the vehicle to approach the expected driving track to drive according to the error distance. Therefore, the problem that the driving experience feeling is poor due to the fact that the execution accuracy of the lane changing track is low in the prior art is solved.

    本申请涉及车辆技术领域,特别涉及一种换道轨迹控制方法、装置、设备、存储介质及程序产品,其中,方法包括:获取车辆换道过程中当前时刻的行驶数据;根据行驶数据预测下一个时刻的车辆位置;根据当前时刻的车辆位置和下一个时刻的车辆位置确定预测轨迹;计算预测轨迹和车辆的期望行驶轨迹的夹角,根据夹角计算下一个时刻的车辆位置与期望位置的误差距离,按照误差距离控制车辆靠近期望行驶轨迹行驶。由此,解决了相关技术中换道轨迹执行精准度较低,导致驾驶体验感较差等问题。


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    Title :

    Lane changing track control method and device, equipment, storage medium and program product


    Additional title:

    换道轨迹控制方法、装置、设备、存储介质及程序产品


    Contributors:
    XIE ZEYU (author) / MA HUAN (author) / LOUIS (author) / ZHAO DEFANG (author) / SUN LIANMING (author) / WANG CHAO (author) / ZHENG ZHEN (author) / CHEN XINYU (author) / QI XU (author) / ZHU MINGHAN (author)

    Publication date :

    2024-09-17


    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