The invention relates to a forced lane changing method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining the current driving parameters of the vehicle and the current road parameters of a road where the vehicle is located; based on the current driving parameters and the current road parameters, whether the vehicle meets a preset forced lane changing condition is judged by combining a global navigation path of the vehicle; and if the vehicle meets the forced lane changing condition, determining a current forced lane changing scene of the vehicle, and planning and controlling the vehicle to enter the current forced lane changing scene so as to execute a forced lane changing strategy corresponding to the current forced lane changing scene, thereby completing forced lane changing. Therefore, the technical problem that the lane changing strategy limited to the generation of the obstacles in front of or on the side of the vehicle is difficult to adapt to the working condition of the global navigation path and is not beneficial to the driving of the vehicle according to the expected plan in the related technology is solved.
本申请涉及一种车辆的强制变道方法、装置、车辆及存储介质,其中,方法包括:获取车辆的当前行驶参数和所处道路的当前道路参数;基于当前行驶参数和当前道路参数,结合车辆的全局导航路径判断车辆是否满足预设强制变道条件;如果车辆满足强制变道条件,则确定车辆的当前强制变道场景,并规划控制车辆进入当前强制变道场景以执行当前强制变道场景对应的强制变道策略,完成强制变道。由此,解决了相关技术中,局限于对于车辆前方或侧方障碍物的生成的变道策略,难以适用于全局导航路径的工况,不利于车辆按照预期规划行驶的技术问题。
Forced lane changing method and device of vehicle, vehicle and storage medium
车辆的强制变道方法、装置、车辆及存储介质
24.05.2024
Patent
Elektronische Ressource
Chinesisch
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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