The invention discloses a decision control method, device and equipment for automatic overtaking and lane changing and a storage medium, and relates to the technical field of automatic driving planning control, and the method comprises the steps: obtaining the necessity of overtaking and lane changing according to the set vehicle speed of a vehicle, the vehicle speed of a front vehicle and the vehicle following time if it is detected that a vehicle with the vehicle speed smaller than a preset low-speed threshold value exists in a lane of the vehicle; obtaining the traffic efficiency according to the traffic flow and the average speed of the lane on the lane changing side; obtaining an overtaking lane change suppression condition; if the automatic lane changing control condition is met, triggering an overtaking lane changing request based on the necessity, the passing efficiency and the overtaking lane changing suppression condition; and if the overtaking lane changing termination condition is met, the overtaking lane changing is canceled. According to the method, whether overtaking lane changing is needed or not is determined in three aspects of lane changing necessity, passing efficiency and overtaking lane changing inhibition conditions, meanwhile, conditions for discovering invalid overtaking lane changing and cancelling overtaking lane changing are designed, the invalid overtaking lane changing frequency is reduced, and the function experience is greatly improved.

    本申请公开了一种自动超车变道的决策控制方法、装置、设备及存储介质,涉及自动驾驶规划控制技术领域,包括:若检测到自车车道内存在车速小于预设低速阈值的车辆,根据自车设定车速、前车车速以及跟车时间,得到超车变道的必要性;根据变道侧车道的车流量和平均车速,得到通行效率;获取超车变道抑制条件;若满足自动变道控制条件,则基于所述必要性、所述通行效率以及所述超车变道抑制条件,触发超车变道请求;若满足超车变道终止条件,则取消超车变道。本申请通过变道必要性、通行效率、超车变道抑制条件,三个方面来决定是否需要超车变道,同时也设计了发现无效超车变道取消超车变道的条件,减少了无效超车变道次数,极大的提高了功能体验。


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    Title :

    Decision control method, device and equipment for automatic overtaking and lane changing and storage medium


    Additional title:

    自动超车变道的决策控制方法、装置、设备及存储介质


    Contributors:
    CHENG MING (author) / LIU JIFENG (author) / TU SHENGSI (author) / SONG ZHEN (author) / LI YUHAO (author)

    Publication date :

    2025-01-03


    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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