Vehicle lane change control method and device

A calculating and processing device for controlling lane changing of a vehicle, wherein the calculating and processing device comprises a processor and a memory, wherein the memory stores a program code for implementing the operations of:

• receiving a lane changing instruction, wherein the lane changing instruction contains a target travelling lane;
• acquiring a speed parameter of the vehicle;
• according to the speed parameter, determining a controlling coefficient of a predetermined controller, and the predetermined controller is a proportion integration differentiation (PID) controller;
• and
• a lane changing controlling operation, comprising acquiring a position-deviation parameter and a heading-angle parameter of the vehicle;
• when at least one of conditions that the position-deviation parameter is greater than or equal to a first threshold, and the heading-angle parameter is greater than or equal to a second threshold occurs, according to the controlling coefficient, the position-deviation parameter and the heading-angle parameter, determining a target steering-wheel steering angle of the vehicle;
• and according to the target steering-wheel steering angle, controlling the vehicle to perform a lane changing operation, till the position-deviation parameter is less than the first threshold, and the heading-angle parameter is less than the second threshold;
• wherein the position-deviation parameter refers to a transverse distance between a current position of the vehicle and a target position within the target travelling lane;
• and the heading angle refers to an included angle between a current course of the vehicle and the target travelling lane;
• wherein the operation of, according to the speed parameter, determining the controlling coefficient of the predetermined controller comprises:
• according to a matching relation between the speed parameter and a predetermined first parameter table, determining a first proportionality coefficient and a first differential coefficient that correspond to the speed parameter;
• and
• according to a matching relation between the speed parameter and a predetermined second parameter table, determining a second proportionality coefficient that corresponds to the speed parameter;
• and
• wherein the lane changing controlling operation comprises:
• a first-steering-wheel-steering-angle determining operation, comprising:
• according to the position-deviation parameter, the first proportionality coefficient and the first differential coefficient, by using a proportional-differential-control algorithm, determining a first steering-wheel steering angle;
• a second-steering-wheel-steering-angle determining operation, including:
• according to the heading-angle parameter and the second proportionality coefficient, by using a proportional-control algorithm, determining a second steering-wheel steering angle;
• and
• a target-steering-wheel-steering-angle determining operation, including:
• according to a predetermined rule, calculating on the first steering-wheel steering angle and the second steering-wheel steering angle, to obtain the target steering-wheel steering angle.

A vehicle, wherein the vehicle comprises the calculating and processing device for controlling lane changing of a vehicle, wherein the calculating and processing device comprises a processor and a memory, wherein the memory stores program code for implementing the operations of:

• receiving a lane changing instruction, wherein the lane changing instruction contains a target travelling lane;
• acquiring a speed parameter of the vehicle;
• according to the speed parameter, determining a controlling coefficient of a predetermined controller, and the predetermined controller is a proportion integration differentiation (PID) controller;
• and
• a lane changing controlling operation, including acquiring a position-deviation parameter and a heading-angle parameter of the vehicle;
• when at least one of conditions that the position-deviation parameter is greater than or equal to a first threshold, and the heading-angle parameter is greater than or equal to a second threshold occurs, according to the controlling coefficient, the position-deviation parameter and the heading-angle parameter, determining a target steering-wheel steering angle of the vehicle;
• and according to the target steering-wheel steering angle, controlling the vehicle to perform a lane changing operation, till the position-deviation parameter is less than the first threshold, and the heading-angle parameter is less than the second threshold;
• wherein the position-deviation parameter refers to a transverse distance between a current position of the vehicle and a target position within the target travelling lane;
• and the heading angle refers to an included angle between a current course of the vehicle and the target travelling lane;
• wherein the operation of according to the speed parameter, determining a controlling coefficient of a predetermined controller comprises:
• according to a matching relation between the speed parameter and a predetermined first parameter table, determining a first proportionality coefficient and a first differential coefficient that correspond to the speed parameter;
• and
• according to a matching relation between the speed parameter and a predetermined second parameter table, determining a second proportionality coefficient that corresponds to the speed parameter;
• and
• wherein the lane changing controlling operation comprises:
• a first-steering-wheel-steering-angle determining operation, including:
• according to the position-deviation parameter, the first proportionality coefficient and the first differential coefficient, by using a proportional-differential-control algorithm, determining a first steering-wheel steering angle;
• a second-steering-wheel-steering-angle determining operation, including:
• according to the heading-angle parameter and the second proportionality coefficient, by using a proportional-control algorithm, determining a second steering-wheel steering angle;
• and
• a target-steering-wheel-steering-angle determining operation, including:
• according to a predetermined rule, calculating on the first steering-wheel steering angle and the second steering-wheel steering angle, to obtain the target steering-wheel steering angle.