The invention discloses a vehicle lane changing control method and device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of vehicle automatic drive.A first driving parameter, a second driving parameter and road information of the vehicle are obtained, the second driving parameter comprises a plurality of driving parameters of each vehicle in a plurality of surrounding vehicles, and the road information of each vehicle is obtained; according to the first driving parameter, the second driving parameter and the road information, determining a planned lane changing track of the vehicle, predicted acceleration duration of the vehicle and predicted acceleration of the vehicle, and optimizing the planned lane changing track and the predicted acceleration of the vehicle through a nonlinear planning method to obtain a target lane changing track and a target acceleration, the target lane changing track and the target acceleration-time function are smooth curves, the vehicle is controlled to start acceleration, so that the vehicle runs from the original lane to the target lane according to the target lane changing track, and the lane changing track and the acceleration-time function are smooth curves, so that the acceleration of the vehicle is smoother, and the comfort of passengers is improved.

    本发明公开了一种车辆换道控制方法、装置、电子设备、存储介质及车辆,涉及车辆自动驾驶技术领域,通过获取车辆的第一行驶参数、第二行驶参数和道路信息,第二行驶参数包括多个周围车辆中每个车辆的多个行驶参数,根据第一行驶参数、第二行驶参数和道路信息,确定车辆的规划换道轨迹、自车预计加速时长和自车预计加速度,通过非线性规划方法对规划换道轨迹和自车预计加速度进行优化,得到目标换道轨迹和目标加速度,目标换道轨迹和目标加速度‑时间函数为平滑的曲线,控制车辆启动加速,使得车辆按照目标换道轨迹由原车道行驶至目标车道,由于换道轨迹和加速度‑时间函数均为平滑的曲线,使得车辆的加速度更加平顺,改善了乘客的舒适性。


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    Title :

    Vehicle lane changing control method and device, electronic equipment, storage medium and vehicle


    Additional title:

    车辆换道控制方法、装置、电子设备、存储介质及车辆


    Contributors:
    LAN XIAOLONG (author) / YANG YICHUAN (author) / LI WANHONG (author) / KONG ZHOUWEI (author) / HE YONG (author)

    Publication date :

    2025-03-21


    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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