The invention discloses a vehicle automatic driving lane changing control method, device and equipment and a storage medium, and relates to the technical field of vehicle control. Through accurate lane information acquisition, lane changing path planning and real-time vehicle position monitoring, safe, efficient and automatic lane changing operation is realized. According to the method, after lane changing conditions are ensured to be met according to traffic attributes and real-time road condition data of a current lane, a lane changing direction and a path planning starting point are determined by utilizing information such as lane width, a drivable lane, a distance between a vehicle body and a lane line and the like, and a smooth lane changing path conforming to a dynamic traffic environment is generated by adopting a B-spline curve fitting algorithm. And the accurate steering wheel angle is calculated according to the real-time position of the vehicle and the preset lane changing point, so that the vehicle is controlled to smoothly complete lane changing, the stability of the vehicle and the comfort of passengers in the whole lane changing process are ensured, and the reliability and practicability of the automatic driving system are remarkably improved.
本申请公开了一种车辆自动驾驶变道控制方法、装置、设备及存储介质,涉及车辆控制技术领域。本申请通过精确的车道信息获取、变道路径规划以及实时的车辆位置监控,实现了安全、高效且自动化的变道操作。该方法根据当前车道的交通属性和实时路况数据,确保变道条件满足后,利用车道宽度、可行驶车道和车身与车道线间距等信息确定变道方向和路径规划起点,通过采用B样条曲线拟合算法,生成一条平滑且符合动态交通环境的变道路径,并根据车辆的实时位置和预设的变道点计算出精确的方向盘转角,从而控制车辆平顺地完成变道,确保在整个变道过程中车辆的稳定性和乘客的舒适性,显著提高了自动驾驶系统的可靠性和实用性。
Vehicle automatic driving lane changing control method, device and equipment and storage medium
车辆自动驾驶变道控制方法、装置、设备及存储介质
2024-12-10
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 |
Automatic driving vehicle lane changing control method and device, vehicle and storage medium
European Patent Office | 2021
|European Patent Office | 2023
|Vehicle lane changing planning method, automatic driving vehicle and storage medium
European Patent Office | 2020
|Automatic driving lane changing method and device, electronic equipment and storage medium
European Patent Office | 2023
|European Patent Office | 2023
|