The embodiment of the invention provides a vehicle lane changing speed planning method and device, a vehicle and a program product, and relates to the technical field of intelligent driving. The vehicle lane changing speed planning method comprises the following steps: in response to a lane changing request that a vehicle changes a lane to a target lane, determining target estimated time when at least one target vehicle passes through a road right changing point; wherein at least one target vehicle is located in a sensing area of the own vehicle, and the road right change point is a track point indicating that the own vehicle enters the target lane on the lane change planning track; according to the target estimation time of the at least one target vehicle passing through the road right change point, determining a plurality of feasible time windows for the vehicle to arrive at the road right change point; wherein the plurality of feasible time windows exclude the target estimated time when at least one target vehicle passes through the road right change point; and planning the speed of the vehicle according to the plurality of feasible time windows, and determining the lane changing planning speed of the vehicle along the lane changing planning track. The embodiment of the invention can realize the technical effect of assisting the vehicle to change the lane safely as soon as possible.

    本申请实施例提供一种车辆变道速度规划方法、设备、车辆及程序产品,涉及智能驾驶技术领域。所述车辆变道速度规划方法,包括:响应自车变道至目标车道的变道请求,确定至少一个目标车辆经过路权变更点的目标估计时间;其中,至少一个目标车辆处于自车的感知区域内,路权变更点是变道规划轨迹上指示自车进入目标车道的轨迹点;根据至少一个目标车辆经过路权变更点的目标估计时间,确定自车到达路权变更点的多个可行时间窗口;其中,多个可行时间窗口排除至少一个目标车辆经过路权变更点的目标估计时间;根据多个可行时间窗口对自车的速度进行规划,确定自车沿变道规划轨迹的变道规划速度。本申请实施例能够实现辅助自车尽快安全变道的技术效果。


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    Title :

    Vehicle lane changing speed planning method and device, vehicle and program product


    Additional title:

    一种车辆变道速度规划方法、设备、车辆及程序产品


    Contributors:
    ZHAN CE (author)

    Publication date :

    2024-12-13


    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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