The invention relates to a vehicle lane changing method and device, electronic equipment, a medium and a vehicle, in particular to the technical field of auxiliary driving. Comprising the following steps: detecting spacing distances of areas to be lane-changed between target vehicles, and determining a corresponding relation of the spacing distances along with time change; calculating lane changing cost aiming at the sampling points in the corresponding relation, wherein the lane changing cost comprises at least one of the following items: spacing distance cost, time cost, acceleration cost, acceleration change cost, residual distance cost and lateral offset cost; and according to the lane changing cost of the sampling points, taking the to-be-changed region corresponding to the sampling points meeting the preset condition as a lane changing region. According to the embodiment of the invention, the proper lane changing area can be independently selected, so that lane changing can be smoothly completed by adapting to a complex actual driving environment.

    本公开涉及一种车辆变道方法、装置、电子设备、介质及车辆,尤其涉及辅助驾驶技术领域。包括:检测目标车辆之间待变道区域的间隔距离,确定间隔距离随时间变化的对应关系;针对对应关系中的采样点计算变道成本,变道成本包括以下至少一项:间隔距离成本、时间成本、加速度成本、加速度变化成本、剩余距离成本、横向偏移成本;根据采样点的变道成本将满足预设条件的采样点所对应的待变道区域作为可变道区域。本公开实施例可以自主选择合适可变道区域,从而能够适应复杂的实际行车环境顺利完成变道。


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    Title :

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


    Additional title:

    一种车辆变道方法、装置、电子设备、介质及车辆


    Contributors:
    WANG HUI (author) / ZHANG KUN (author)

    Publication date :

    2025-05-16


    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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