Lane changing control method of vehicle and controller

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Lane changing control method of vehicle and controller

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ZHANG JIANBO / LIU LEI / YAN PENG / JIN SHENGHUI / WANG MENGLU

The invention provides a lane changing control method of a vehicle and a controller, and belongs to the technical field of vehicle control. The lane changing control method comprises the steps that when a lane changing control instruction of a vehicle is received, first driving information and the boundary dimension of the vehicle are obtained, and lane line information of a target lane line between a target lane and a current lane of the vehicle and second driving information of the current lane of the vehicle and a target vehicle on the target lane are collected; planning a target lane changing track of the vehicle according to the first driving information, the boundary dimension and the target lane line information, wherein wheels can avoid a solid line of a target lane line when the vehicle drives according to the target lane changing track; judging whether the vehicle meets a lane changing condition according to the target lane changing track and the second driving information; and when the own vehicle meets the lane changing condition, the own vehicle is controlled to run according to the target lane changing track. By means of the lane changing control method, the comfort of the vehicle in the lane changing process can be improved.

本发明提供了一种车辆的变道控制方法及控制器，属于车辆控制技术领域。该变道控制方法包括：在接收到自车的变道控制指令时，获取自车的第一行驶信息和外形尺寸，采集目标车道与自车的当前车道之间的目标车道线的车道线信息，以及自车的当前车道和目标车道上的目标车辆的第二行驶信息；根据第一行驶信息、外形尺寸和目标车道线信息规划自车的目标变道轨迹，自车按照目标变道轨迹行驶时车轮能够避开目标车道线的实线；根据目标变道轨迹和第二行驶信息判断自车是否满足变道条件；在自车满足变道条件时控制自车按照目标变道轨迹行驶。本发明的变道控制方法能够提高车辆在变道时的舒适性。

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Title :

Lane changing control method of vehicle and controller

Additional title:

一种车辆的变道控制方法及控制器

Contributors:

ZHANG JIANBO (author) / LIU LEI (author) / YAN PENG (author) / JIN SHENGHUI (author) / WANG MENGLU (author)

Publication date :

2023-05-02

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