The invention discloses a lifting lever lane changing system and method based on a quintic polynomial and a storage medium, relates to the technical field of automatic driving, and solves the technical problems that in the prior art, due to the fact that a driver operates longitudinally, the lane changing time and the lane changing speed are not controlled by an auxiliary driving controller, and the lifting lever lane changing effect is affected. A vehicle control function is activated, and vehicle information parameters are obtained through a plurality of sensors; judging whether the corresponding vehicle is subjected to shifting rod lane changing or not; constructing a lane center line model to obtain the transverse position of the updated lane center line; releasing the vehicle-following target of the current lane, and performing target screening by using the updated lane center line; keeping lane changing control through a transverse LCK, and controlling the vehicle to the position of a lane center line; judging whether the corresponding vehicle needs to change the speed or not through the ACC; if yes, changing the longitudinal speed of the vehicle; if not, driving according to the lane driving speed before updating; according to the invention, the control on shift lever lane changing is more accurate.
本发明公开了一种基于五次多项式的拨杆换道系统、方法及存储介质,涉及自动驾驶技术领域,解决了现有技术因驾驶员操作纵向,造成换道的时间和换道的速度不受辅助驾驶控制器控制,影响拨杆换道效果的技术问题;本发明通过激活车辆控制功能,通过若干传感器获取车辆信息参数;判断对应车辆是否进行拨杆换道;构建车道中心线模型获取更新后车道中心线的横向位置;释放当前车道的跟车目标,利用更新的车道中心线进行目标筛选;通过横向LCK保持换道的控制,将车辆控制到车道中心线的位置;通过ACC判断对应车辆是否需要变速;是,则改变车辆的纵向速度;否,则按照更新前的车道行驶速度行驶;本发明对拨杆换道的控制更加准确。
Shifting rod lane changing system and method based on quintic polynomial and storage medium
一种基于五次多项式的拨杆换道系统、方法及存储介质
25.04.2025
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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