The invention relates to an automatic driving lane changing control method and device, computer equipment, a readable storage medium and a program product. The method comprises the steps of determining a target lane according to a lane changing request under the condition that the lane changing request is received; according to a preset period, judging whether the to-be-changed vehicle completes lane changing or not; under the condition that the vehicle waiting for lane changing does not complete lane changing, a lane changing driving track is generated according to the target lane and the predicted motion track of the target obstacle needing to be avoided; and controlling the vehicle to change the lane according to the lane change driving track, and returning to execute the step of judging whether the vehicle to change the lane finishes the lane change according to the preset period. By adopting the method, the safety in the lane changing process can be ensured only by using the motion planning scheme, and under the conditions that lane changing must be performed and the continuous driving space of the current lane is limited, the cruise state can be immediately released after the lane changing request is initiated, and the lane changing action is started, so that the lane changing capability of the automatic driving vehicle is greatly improved.
本申请涉及一种自动驾驶变道控制方法、装置、计算机设备、可读存储介质和程序产品。所述方法包括:在接收到变道请求的情况下,根据变道请求确定目标车道;根据预设周期,判断待变道车辆是否完成变道;在待变道车辆未完成变道的情况下,根据目标车道,以及需要避让的目标障碍物的预测运动轨迹,生成变道行驶轨迹;根据变道行驶轨迹控制车辆进行变道,并返回执行根据预设周期,判断待变道车辆是否完成变道的步骤。采用本方法能够仅使用运动规划方案保证变道过程中的安全性,当处于必须变道,且当前车道继续行驶空间有限的情况下,可以保证在变道请求发起后能够立即解除巡航状态,并开始变道动作,大大提升自动驾驶车辆的变道能力。
Automatic driving lane changing control method and device, computer equipment, readable storage medium and program product
自动驾驶变道控制方法、装置、计算机设备、可读存储介质和程序产品
2024-11-12
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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