The invention relates to a vehicle lane changing control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring own vehicle driving information of a local vehicle and obstacle vehicle driving information of a target obstacle vehicle, determining a vehicle lane changing window according to the obstacle vehicle driving information and the own vehicle driving information, and determining predicted driving information of the local vehicle according to the own vehicle driving information of the local vehicle, determining predicted driving information of the target obstacle vehicle according to the obstacle vehicle driving information, and determining an updated lane changing window based on the predicted driving information of the local vehicle and the predicted driving information of the obstacle vehicle; matching the updated lane changing window with the vehicle lane changing window to determine a target lane changing window; determining a target longitudinal acceleration of the local vehicle according to the target window longitudinal position and the target window longitudinal speed of the target lane changing window through a sliding mode control algorithm; and controlling the local vehicle to change lanes towards the target lane changing window based on the target longitudinal acceleration. And the vehicle lane changing success rate is improved.

    本申请涉及一种车辆变道控制方法、装置、计算机设备以及存储介质。所述方法包括:获取本地车辆的自车行驶信息以及目标障碍车辆的障碍车辆行驶信息,根据障碍车辆行驶信息和自车行驶信息确定车辆变道窗口根据本地车辆的自车行驶信息确定本地车辆的预测行驶信息,根据障碍车辆行驶信息确定目标障碍车辆的预测行驶信息,基于本地车辆的预测行驶信息和障碍车辆的预测行驶信息确定更新变道窗口;将更新变道窗口和车辆变道窗口进行匹配确定目标变道窗口;通过滑模控制算法,根据目标变道窗口的目标窗口纵向位置和目标窗口纵向速度确定本地车辆的目标纵向加速度;基于目标纵向加速度控制本地车辆向目标变道窗口进行变道。提升了车辆换道成功率。


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    Title :

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


    Additional title:

    车辆变道控制方法、装置、计算机设备以及存储介质


    Contributors:
    ZHOU HANG (author) / XUE YAN (author) / ZHANG LE (author) / SUN PEIJIAN (author) / ZOU XIN (author) / XIE JIANHUI (author)

    Publication date :

    2024-10-29


    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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