The invention relates to the technical field of vehicles, in particular to a vehicle lane changing track planning method and device, a vehicle and a storage medium, and the method comprises the steps: detecting whether the vehicle meets a preset lane changing track planning condition or not; when it is detected that the vehicle meets a preset lane changing track planning condition, obtaining a target candidate lane changing track cluster of the vehicle in the target safe lane changing area; and based on the target candidate lane changing track cluster, establishing a target evaluation function meeting a preset evaluation condition, and determining a target lane changing track of the vehicle by using the target evaluation function so as to control the vehicle to execute a corresponding lane changing action according to the target lane changing track. According to the embodiment of the invention, under the condition that the vehicle is detected to meet the lane changing track planning condition, the evaluation function meeting the evaluation condition is established according to the candidate lane changing track cluster in the safe lane changing area, so that the target lane changing track of the vehicle is determined, and the vehicle is controlled to execute the corresponding lane changing action according to the target lane changing track. And the safety and the comfort of the vehicle are improved.

    本申请涉及车辆技术领域,特别涉及一种车辆换道轨迹的规划方法、装置、车辆及存储介质,其中,方法包括:检测车辆是否满足预设换道轨迹规划条件;在检测到车辆满足预设换道轨迹规划条件的情况下,获取车辆在目标安全换道区域内的目标候选换道轨迹簇;基于目标候选换道轨迹簇,建立满足预设评价条件的目标评价函数,并利用目标评价函数确定车辆的目标换道轨迹,以根据目标换道轨迹控制车辆执行对应的换道动作。本申请实施例在检测到车辆满足换道轨迹规划条件的情况下,根据安全换道区域内的候选换道轨迹簇建立满足评价条件的评价函数,从而确定车辆的目标换道轨迹,以根据目标换道轨迹控制车辆执行对应的换道动作,提升了车辆的安全性和舒适性。


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    Title :

    Vehicle lane changing track planning method and device, vehicle and storage medium


    Additional title:

    车辆换道轨迹的规划方法、装置、车辆及存储介质


    Contributors:
    LI ZUOWEN (author) / ZHANG HONG (author) / ZHANG YONG (author) / ZHANG JIAN (author) / JIANG HONGWEI (author) / ZHU KEFU (author) / LI WEINAN (author) / LI HANG (author)

    Publication date :

    2024-10-25


    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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