Automatic lane changing collision avoidance control method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses an automatic lane changing collision avoidance control method and device, a vehicle and a storage medium. The method comprises the steps that when lane changing operation is conducted, self-vehicle driving parameters, target vehicle driving parameters and road information are obtained; advancing collision safety detection time, back-off collision safety detection time and a lane changing virtual action line are determined according to the own vehicle driving parameters, the target vehicle driving parameters and the road information; and when it is detected that lane changing is abnormal, a collision avoidance strategy is determined according to the position relation between the vehicle and the lane changing virtual action line, the advancing collision safety detection time and the returning collision safety detection time, and the vehicle is controlled to execute the collision avoidance strategy. According to the technical scheme of the embodiment of the invention, the problem that the collision avoidance strategy with the lowest risk is difficult to determine when the vehicle encounters the abnormal lane change condition in the automatic lane change process is solved, the possibility of collision when the vehicle automatically changes the lane is reduced, the severity of collision under the condition that collision cannot be avoided isreduced, and the driving safety of the vehicle is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving control, and in particular to an automatic lane change and collision avoidance control method, device, vehicle and storage medium. Background technique [0002] The development of the vehicle's automatic driving function is in full swing. As the most cutting-edge technology, it can liberate the driver's hands and feet without even needing to look ahead. Once the navigation destination is set, the driver can realize the vehicle driving without taking over. Autonomous driving vehicles include a variety of autonomous decision-making and control tasks, including autonomous control centering, autonomous control lane change, autonomous navigation path planning, etc. Take the necessary steps to minimize the risk. [0003] At present, the active safety anti-collision processing method for automatic lane changing of vehicles mainly uses to determine whether the vehicle can ...

AI Technical Summary

Problems solved by technology

[0004] However, during the automatic lane change process, information such as the driver's operating state and the vehicle's state attitude will have an impact on the lane change decision, and if the vehicle stops directly and returns to the original driving lane during the lane change process, it may also cause the vehicle to be different from the original driving lane. Collision of vehicles in the lane, which may pose greater danger

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