The invention discloses a method for controlling lane changing in automatic driving, which comprises the following steps of: in a lane changing execution process, if a lane changing cancelling command is received, acquiring current position information of a vehicle; according to the vehicle position information, the current lane changing cancelling grade is judged; according to the current lane changing cancel grade, a target state and a target pose, corresponding to the current lane changing cancel grade, of the vehicle are obtained, a vehicle decision state machine jumps to the target state, and the vehicle is controlled to reach the target pose. The invention further discloses a corresponding system and device, a storage medium and a vehicle. By implementing the method, the lane changing success rate, comfort and safety of the automatic driving system can be improved.
本发明公开了一种自动驾驶中进行变道控制的方法,其包括步骤:在变道执行过程中,如果收到变道取消命令时,获取当前自车位置信息;根据所述自车位置信息,判断当前变道取消等级;根据所述当前变道取消等级,获取自车与所述当前变道取消等级对应的目标状态以及目标位姿,将车辆决策状态机跳转至所述目标状态,控制自车达到所述目标位姿。本发明还公开了相应的系统、装置、存储介质及车辆。实施本发明,可以提高自动驾驶系统变道成功率、舒适性和安全性。
Method, system and device for lane changing control in automatic driving, storage medium and vehicle
自动驾驶中进行变道控制的方法、系统、装置、存储介质及车辆
2024-12-03
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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