The invention provides a vehicle lane changing control method and a related device, and relates to the technical field of automatic driving. According to the invention, during vehicle lane changing, the current lane changing scene is identified based on the road information of the current road where the vehicle to be subjected to lane changing is located, and the target lane changing scene is obtained, so that subsequent lane changing can be matched with an actual road scene, and the lane changing accuracy and reliability are improved. In addition, according to the method, the target lane changing space of the vehicle to be subjected to lane changing is determined, longitudinal lane changing motion data in the target lane changing scene are calculated, and the vehicle to be subjected to lane changing is controlled to conduct lane changing operation according to the target lane changing space and based on longitudinal lane changing reference data and transverse lane changing motion data in the target lane changing scene. According to the method, the lane changing reference data are determined from the transverse angle and the longitudinal angle respectively, the longitudinal lane changing reference data are matched with the target lane changing scene, the accuracy of determining the longitudinal lane changing reference data is improved, and therefore the accuracy of follow-up lane changing control is improved.

    本申请提供了一种车辆变道控制方法及相关装置,涉及自动驾驶技术领域。在进行车辆变道时,会基于待变道车辆所在的当前道路的道路信息,对当前变道场景进行识别,得到目标变道场景,使得后续变道时能够跟实际道路场景相匹配,提高变道的准确性和可靠性。另外,本发明中,确定所述待变道车辆的目标变道空间,计算所述目标变道场景下的纵向变道运动数据,参照所述目标变道空间,基于所述目标变道场景下的纵向变道参考数据和横向变道运动数据,控制所述待变道车辆进行变道操作。本发明从横向和纵向两个角度分别确定变道参考数据,且纵向变道参考数据与目标变道场景相匹配,提高纵向变道参考数据确定的准确度,从而提高后续变道控制的准确度。


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    Title :

    Vehicle lane changing control method and related device


    Additional title:

    一种车辆变道控制方法及相关装置


    Contributors:
    CHEN CONG (author) / ZHU JUN (author) / WANG ZIYI (author) / WANG HUAN (author) / CHEN YIFAN (author) / LYU HAIPENG (author)

    Publication date :

    2025-02-11


    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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