Control method and device of vehicle lane changing and storage medium

A control method and a technology of a control device, which are applied in the fields of vehicle lane change control, computer storage media, and vehicle lane change control devices, can solve problems such as potential safety hazards, and achieve the effects of improving safety and avoiding lateral control overshoot

Active Publication Date: 2017-11-07
GUANGZHOU AUTOMOBILE GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this solution is difficult to take into account the specific road conditions and the influence of factors such as lateral acceleration sensor measurement errors and control errors, and once the set lateral motion trajectory curve ends and the front of the vehicle is not level with the lane, it will seriously affect the lane change process. After the end of the identification of lane information, there is a serious safety hazard

Method used

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  • Control method and device of vehicle lane changing and storage medium
  • Control method and device of vehicle lane changing and storage medium
  • Control method and device of vehicle lane changing and storage medium

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Embodiment Construction

[0027] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "or / and" includes any and all combinations of one or more of ...

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Abstract

The invention provides a control method and device of vehicle lane changing and a computer storage medium. The method of one embodiment comprises the following steps of selecting a target lane and obtaining a lane center line of the target lane; determining a preview distance and a preview included angle according to current speed of a vehicle, and determining a current preview point according to the preview distance and the preview included angle; determining lateral deviation and heading angle deviation according to the current preview point and current vehicle heading; outputting a steering wheel rotating-angle request to a steering controller according to the lateral deviation and the heading angle deviation; and when an update condition of the preview point is met, returning to the step of determining the preview distance and the preview included angle according to the current speed of the vehicle and determining the current preview point according to the preview distance and the preview included angle until the determined current preview point is in the preset distance range of the lane center line of the target lane. According to the scheme of the embodiment, the safety of vehicles such as an automobile in the process of automatic lane changing is improved.

Description

technical field [0001] The present invention relates to the technical field of unmanned vehicles, in particular to a control method for vehicle lane change, a vehicle lane change control device and a computer storage medium. Background technique [0002] Unmanned vehicles are an important research direction in the field of vehicle technology at present, and the lane change control of unmanned vehicles has also become an important content in the intelligent control of unmanned vehicles. At present, the automatic lane change control of existing unmanned vehicles is not very perfect, and there are more or less serious safety hazards. Slow down and be easily rear-ended by vehicles coming from behind. [0003] For example, there is currently an automatic lane change control method based on trapezoidal lateral acceleration virtual ideal trajectory following, which pre-sets a time-based lateral motion trajectory curve for the smart car, and only considers the vehicle speed and the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/20B60W40/105
CPCB60W10/20B60W40/105
Inventor 甘新华
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD
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