The invention relates to the technical field of automatic driving, and provides a vehicle lane changing method and device, electronic equipment and a readable storage medium. The method comprises the following steps: determining a lane changing conflict position corresponding to each adjacent lane in all adjacent lanes of a vehicle under the condition of determining that the vehicle generates a lane changing intention; determining a target lane from the adjacent lanes according to the lane changing conflict positions corresponding to the adjacent lanes; determining the corresponding safety degree and comfort degree when the own vehicle and the target vehicle adopt different driving strategies in each preset duration; and based on the safety degree and the comfort degree, determining a target driving strategy of the own vehicle and the target vehicle, and controlling the own vehicle to drive according to the corresponding target driving strategy within a preset duration until the own vehicle or the target vehicle passes through the lane changing conflict position. By comprehensively considering the traffic flows of the current lane, the target lane and the non-target lane, the own vehicle can make an optimal decision according to the global traffic state.

    本申请涉及自动驾驶技术领域,提供了一种车辆变道方法、装置、电子设备及可读存储介质。该方法包括:在确定自身车辆产生变道意图的情况下,确定自身车辆的全部相邻车道中各相邻车道对应的变道冲突位置;根据各相邻车道对应的变道冲突位置,从各相邻车道中确定目标车道;确定自身车辆和目标车辆在各预设时长内采用不同行车策略时分别对应的安全度和舒适度;基于安全度和舒适度,确定自身车辆和目标车辆的目标行车策略,并控制自身车辆在预设时长内以所对应目标行车策略进行行驶,直至自身车辆或目标车辆通过变道冲突位置。通过综合考虑当前车道、目标车道、非目标车道的车流,使得自身车辆能够根据全局交通状态做出最优决策。


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    Title :

    Vehicle lane changing method and device, electronic equipment and readable storage medium


    Additional title:

    车辆变道方法、装置、电子设备及可读存储介质


    Contributors:
    WANG JUNZHENG (author) / SU XINGYI (author) / LI YANG (author) / ZENG CHENG (author)

    Publication date :

    2024-12-20


    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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