The embodiment of the invention provides a vehicle lane changing control method, device and equipment, an automobile and a storage medium, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring a first space income and a second space income of a vehicle within a preset time period; the first space revenue is the revenue obtained by simulating that the vehicle runs according to a target lane changing planning track, and the target lane changing planning track is a track which is determined based on a preset dynamic planning algorithm and consumes the minimum total cost in lane changing longitudinal planning tracks at which the vehicle can change to a target position of a target lane; the second space revenue is the revenue obtained by simulating the self-vehicle to run along the target cruise planning track; determining lane changing income according to the first space income and the second space income; and controlling the own vehicle to change the lane according to the lane changing income. The method is used for achieving the effects of improving the accuracy of the lane changing decision and improving the passing efficiency of the vehicle in complex scenes such as medium and low speeds.

    本申请实施例提供一种车辆变道控制方法、装置、设备、汽车及存储介质,涉及智能驾驶技术领域。该方法包括:获取预设时间段内自车的第一空间收益和第二空间收益;第一空间收益为模拟自车以目标变道规划轨迹行驶得到的收益,目标变道规划轨迹为基于预设动态规划算法确定的、自车能够变道到目标车道的目标位置的变道纵向规划轨迹中所耗总代价最小的轨迹;第二空间收益为模拟自车以目标巡航规划轨迹行驶得到的收益;根据第一空间收益和第二空间收益,确定变道收益;根据变道收益,控制自车进行变道。该方法用以达到提高变道决策的准确度、提升车辆在中低速等复杂场景的通行效率的效果。


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    Title :

    Vehicle lane changing control method, device and equipment, automobile and storage medium


    Additional title:

    车辆变道控制方法、装置、设备、汽车及存储介质


    Contributors:
    CHENG CHEN (author)

    Publication date :

    2025-03-14


    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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