The invention discloses a vehicle lane changing control method and device, vehicle equipment and a storage medium. The vehicle lane changing control method comprises the steps that when it is detected that a target vehicle does not meet driving conditions on a current lane, the driving speed of a vehicle in front of the current lane and the traffic flow speed of the target lane are determined; wherein the vehicle in front of the current lane is a vehicle in front of the target vehicle in the current lane, and the target lane is a left lane of the current lane; when the traffic flow speed is larger than the driving speed of the vehicle in front of the current lane, the minimum lane changing safety distance and the relative distance between the target vehicle and each environment vehicle are determined; and when the relative distance between the target vehicle and each environment vehicle is greater than or equal to the corresponding minimum safe lane changing distance, controlling the target vehicle to change the lane to the target lane. According to the scheme, the autonomous lane changing behavior of the vehicle is completed without depending on decision judgment and driving experience of a driver, and the complexity and the risk when the vehicle executes lane changing are reduced.

    本发明公开了一种车辆换道控制方法、装置、车辆设备及存储介质。车辆换道控制方法,包括:当检测到目标车辆在当前车道不满足行驶条件时,确定当前车道前车的行驶速度及目标车道的交通流速度;其中,当前车道前车为在当前车道中目标车辆前面的车辆,目标车道为当前车道的左侧车道;当交通流速度大于在当前车道前车的行驶速度时,分别确定目标车辆与每个环境车辆间的换道最小安全距离及相对距离;当目标车辆与每个环境车辆间的相对距离均大于或等于对应的换道最小安全距离时,控制目标车辆向目标车道进行换道。本方案实现了不依赖驾驶员的决策判断和驾驶经验,完成车辆的自主换道行为,降低了车辆执行换道时的复杂性和风险性。


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    Title :

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


    Additional title:

    一种车辆换道控制方法、装置、车辆设备及存储介质


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

    Publication date :

    2024-11-29


    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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