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 whether the time when the vehicle runs to a road right changing point at the current constant speed of the vehicle is within a feasible time window when the vehicle arrives at the road right changing point; wherein the right-of-way change point is a track point indicating that the vehicle enters the target lane on the lane change planning track, the feasible time window excludes target estimation time when the target vehicle passes through the right-of-way change point, and the target vehicle is located in a sensing area of the vehicle; if yes, controlling the own vehicle to run to the road right change point at a constant speed according to the current speed of the own vehicle; and if not, performing variable-speed planning on the speed of the vehicle according to the feasible time window so as to control the vehicle to run from the current speed of the vehicle to the road right change point in a variable-speed manner. 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,确定自车以自车的当前速度匀速行驶到路权变更点的时间是否处于自车到达路权变更点的可行时间窗口内;其中,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,可行时间窗口排除目标车辆经过路权变更点的目标估计时间,目标车辆处于自车的感知区域内;若是,则控制自车按照自车的当前速度匀速行驶到路权变更点;若否,则根据可行时间窗口对自车的速度进行变速规划,以控制自车从自车的当前速度变速行驶到路权变更点。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。
Vehicle lane changing speed planning method and device, vehicle and program product
一种车辆变道速度规划方法、设备、车辆及程序产品
2024-12-17
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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