The invention relates to a vehicle lane changing control method and device, a vehicle and a storage medium. Road environment information is obtained; determining a first target lane changing point for a congestion traffic flow condition and a second target lane changing point for a long solid line based on the road environment information; marking a ramp starting point for a ramp, and determining a latest lane changing point for a current driving lane based on the ramp starting point, the first target lane changing point and the second target lane changing point; based on the ramp direction of the ramp, determining the number of times of lane changing required when the vehicle runs under the current driving lane and the lane changing distance required when the vehicle completes one-time lane changing, and determining a decision distance threshold by adopting the number of times of lane changing and the lane changing distance; and controlling the vehicle to change the lane according to the latest lane change point and the decision distance threshold value, so that the latest lane change point of the current driving lane is calculated based on the traffic flow state information and the long solid line information, and the probability of lane change failure caused by traffic jam and long solid lines in front of the ramp is reduced. And the success rate of controlling the vehicle to enter the ramp side lane is improved.

    本发明涉及一种车辆换道控制方法、装置、车辆及存储介质,通过获取道路环境信息;基于所述道路环境信息确定出针对拥堵车流状况的第一目标换道点,以及针对长实线的第二目标换道点;标记针对匝道的匝道起点,并基于所述匝道起点、所述第一目标换道点和所述第二目标换道点确定针对当前行驶车道的最晚换道点;基于所述匝道的匝道方向,确定针对所述车辆在所述当前行驶车道下行驶时所需要的换道次数,以及所述车辆在完成一次换道时所需要行进的换道距离,并采用所述换道次数和所述换道距离确定决策距离阈值;根据所述最晚换道点和所述决策距离阈值控制所述车辆换道,实现了基于车流状态信息和长实线信息计算当前行驶车道的最晚换道点,降低了因匝道前存在拥堵车流和长实线导致换道失败的概率,提高控制车辆进入匝道侧车道的成功率。


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    Title :

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


    Additional title:

    一种车辆换道控制方法、装置、车辆及存储介质


    Contributors:
    WANG ZHEN (author) / XIAO XIONG (author)

    Publication date :

    2024-09-27


    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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