The invention provides a vehicle lane changing control method and device, and the method comprises the steps: generating a target lane marking point according to a target lane, the driving informationof a target vehicle, and a reference coordinate system, wherein the reference coordinate system is generated according to the initial state information of the target vehicle; generating a current lane changing track of the target vehicle according to the current driving information of the target vehicle and the lane where the target lane mark point is located; and controlling the target vehicle to change lanes according to the current lane changing track. By implementing the method and the device, the target lane determined by the target lane marking point does not jump due to vehicle movement, and the target vehicle can be accurately guided to converge into the target lane according to the current driving position of the vehicle and the current lane changing track generated by the lane where the target lane marking point is located in the vehicle moving process.

    本发明提供了一种车辆换道控制方法及装置,其中,该方法包括:根据目标车道、目标车辆的行驶信息及参考坐标系生成目标车道标记点;参考坐标系为根据目标车辆的初始状态信息生成的;根据目标车辆的当前行驶信息和目标车道标记点所在车道生成目标车辆的当前换道轨迹;根据当前换道轨迹控制目标车辆进行换道。通过实施本发明,通过目标车道标记点所确定的目标车道不会因为车辆移动出现跳变,在车辆移动过程中根据车辆的当前行驶位置和目标车道标记点所在车道生成的当前换道轨迹可以准确引导目标车辆汇入目标车道。


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    Title :

    Vehicle lane changing control method and device


    Additional title:

    一种车辆换道控制方法及装置


    Contributors:
    ZHANG ZHUO (author) / FAN SHENGLI (author)

    Publication date :

    2021-02-26


    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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