The invention relates to a vehicle lane changing speed planning method and device based on automatic driving and a vehicle, and belongs to the technical field of automotive electronics and automatic drive.The method comprises the steps that the speed of the vehicle, the acceleration of the vehicle and the speed of an obstacle in front of a side lane are obtained; based on the lane changing behavior information of the vehicle, the distance between the vehicle and a front obstacle after lane changing is completed is determined according to the speed of the vehicle, the acceleration of the vehicle and the speed of the front obstacle of the side lane; determining the relationship between the vehicle and the vehicle following interval according to the size relationship between the distance between the vehicle and the front obstacle after the lane changing is completed and a distance threshold value; and according to the relation between the vehicle and the vehicle following interval, the acceleration and the speed of the vehicle during lane changing are planned. The technical problems that in the prior art, automatic driving lane changing adopts the mode of first accelerating lane changing and then decelerating vehicle following, and consequently driving is not smooth, and fuel consumption economy is poor are solved.

    本发明涉及一种基于自动驾驶的车辆换道速度规划方法、装置和车辆,属于汽车电子及自动驾驶技术领域,其中,该方法包括:获取本车速度、本车加速度以及旁车道前方障碍物速度;基于本车的换道行为信息,根据本车速度、本车加速度以及旁车道前方障碍物速度,确定本车换道完成后与前方障碍物之间的距离;根据本车换道完成后与前方障碍物之间的距离,与距离阈值的大小关系,确定本车与跟车区间的关系;根据本车与跟车区间的关系,对本车换道时的加速度和速度进行规划。本发明解决了现有技术中自动驾驶换道采用先加速换道再减速跟车的方式,导致驾驶不平顺以及燃油消耗经济性差的技术问题。


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    Title :

    Vehicle lane changing speed planning method and device based on automatic driving and vehicle


    Additional title:

    一种基于自动驾驶的车辆换道速度规划方法、装置和车辆


    Contributors:
    YANG YUE (author) / XIA RANFEI (author) / YAN XU (author) / WANG YU (author) / YIN ZHENG (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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