The invention provides a vehicle afflux control method, device and equipment and a computer readable storage medium. The method comprises the steps that current vehicle state information of a vehicle is acquired; respectively acquiring expected state information of the own vehicle at each convergence point of the target convergence lane; on the basis of the current vehicle state information and the expected state information, a preset polynomial function is solved, and corresponding longitudinal tracks of the vehicle from the current position to the afflux points are obtained; a longitudinal track meeting preset vehicle state constraints is screened out, and a target driving area is obtained; and controlling the vehicle to enter the target afflux lane along the target driving area. According to the method, driving styles or intentions of the vehicle and other vehicles do not need to be explained, starting from the state of the vehicle, the state of the vehicle driving to the confluence point is restrained, the driving area which can be reached and the confluence opportunity meeting the requirement can be effectively and accurately determined, and the success rate and safety of vehicle confluence are effectively improved.

    本发明申请提供了一种车辆汇入控制方法、装置、设备及计算机可读存储介质,方法包括:获取自车的当前车辆状态信息;分别获取自车在目标汇入车道各汇入点的期望状态信息;基于所述当前车辆状态信息和所述期望状态信息,对预设多项式函数进行求解,分别得到自车从当前位置到各所述汇入点对应的纵向轨迹;筛选出满足预设车辆状态约束的纵向轨迹,得到目标行驶区域;并控制所述自车沿所述目标行驶区域进入所述目标汇入车道。本发明无需对自车以及他车驾驶风格或意图进行解释,而是从车辆自身状态出发,并对其行驶到达汇入点的状态进行约束,可以有效、准确地确定可以到达的行驶区域以及满足要求的汇入时机,有效提高了车辆汇入的成功率和安全性。


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    Title :

    Vehicle afflux control method, device and equipment and computer readable storage medium


    Additional title:

    车辆汇入控制方法、装置、设备及计算机可读存储介质


    Contributors:
    SHEN JINGCHAO (author) / PENG LIFENG (author) / ZHANG SHUNJIE (author) / ZHENG WEI (author) / LIU GUOQING (author) / HUANG LIANG (author)

    Publication date :

    2025-03-04


    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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