The invention provides a vehicle lane changing control method, device and equipment and a computer readable storage medium. The method comprises the steps that longitudinal boundary points of a target lane changing gap are obtained; calculating an expected longitudinal speed of the target vehicle according to the longitudinal boundary point and a preset acceleration; the preset acceleration is designed based on a time optimal principle; the expected transverse velocity is determined through a Bezier curve; and based on the expected longitudinal speed and the expected transverse speed, the target vehicle is controlled to complete lane changing, so that the target vehicle enters the target lane changing gap. According to the method, the expected longitudinal speed of the target vehicle is calculated based on the longitudinal boundary point of the target lane changing gap and the preset acceleration, and the expected transverse speed is determined through the Bezier curve, so that the target vehicle is controlled to complete lane changing and merge into the target lane changing gap; compared with the prior art, the lane changing success rate and stability of the target vehicle can be effectively improved, and the probability of collision with surrounding vehicles is reduced.
本发明申请提供了一种车辆变道控制方法、装置、设备及计算机可读存储介质,方法包括:获取目标变道间隙的纵向边界点;根据所述纵向边界点和预设加速度,计算目标车辆的期望纵向速度;所述预设加速度基于时间最优原则设计;并通过贝塞尔曲线确定期望横向速度;基于所述期望纵向速度和所述期望横向速度,控制所述目标车辆完成变道,以使所述目标车辆进入所述目标变道间隙。本发明基于目标变道间隙的纵向边界点以及预设的加速度,计算目标车辆的期望纵向速度,并通过贝塞尔曲线确定期望横向速度,从而控制目标车辆完成变道,并入目标变道间隙中,相比较现有技术可以有效提高目标车辆变道的成功率和稳定性,降低与周围车辆发生碰撞的概率。
Vehicle lane changing control method, device and equipment and computer readable storage medium
车辆变道控制方法、装置、设备及计算机可读存储介质
2025-03-21
Patent
Electronic Resource
Chinese
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 |
Vehicle lane changing method, device and equipment and computer readable storage medium
European Patent Office | 2024
|Vehicle lane changing method, device and equipment and computer readable storage medium
European Patent Office | 2024
|Lane changing control method and device, computer equipment and readable storage medium
European Patent Office | 2024
|Lane changing control method and device, computer equipment and readable storage medium
European Patent Office | 2024
|Vehicle lane changing prompting method and device, computer equipment and readable storage medium
European Patent Office | 2024
|