The embodiment of the invention discloses a lane changing control method and device, computer equipment and a readable storage medium, and relates to the technical field of automatic driving. The method comprises the steps that when it is determined that a vehicle meets lane changing conditions, the current lane where the vehicle is located and a target lane are determined; obtaining a single lane changing distance value, and obtaining a latest lane changing line where a latest lane changing point corresponding to the target lane is located according to the map data; each target lane line between the current lane and the target lane and each tangent line at the intersection point of the latest lane changing line and each target lane line are perpendicular to the latest lane changing line; based on the single lane changing distance value, calculating a lane changing starting distance corresponding to each lane from the current lane to the target lane; the start lane changing distance is a distance value between the start lane changing point corresponding to each lane and the latest lane changing line; and based on the start lane changing distance and the latest lane changing line corresponding to each lane, sequentially controlling the own vehicle to change the lane to the target lane. According to the embodiment of the invention, the lane changing operation of the autonomous vehicle can be accurately controlled.

    本发明实施例公开一种变道控制方法、装置、计算机设备及可读存储介质,涉及自动驾驶技术领域。该方法包括:当确定自车满足变道条件时,确定自车所在的当前车道以及目标车道;获取单次变道距离值,并根据地图数据获取目标车道对应的最晚变道点所在的最晚变道线;当前车道和目标车道之间各目标车道线,在最晚变道线和各目标车道线交点处的各切线,与最晚变道线均垂直;基于单次变道距离值,计算当前车道至目标车道中各车道对应的开始变道距离;开始变道距离为各车道对应的开始变道点至最晚变道线之间的距离值;基于各车道对应的开始变道距离和最晚变道线,依次控制自车变道至目标车道。本发明实施例可以准确地对自动驾驶车辆的变道操作进行控制。


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    Title :

    Lane changing control method and device, computer equipment and readable storage medium


    Additional title:

    一种变道控制方法、装置、计算机设备及可读存储介质


    Contributors:
    YU SHUAISHUAI (author) / ZHU ZHENGDA (author) / HUANG JIANSEN (author)

    Publication date :

    2024-12-10


    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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