Vehicle lane change control method and device

US11919518B2 · kind B2 · utility

Assignee

• GREAT WALL MOTOR COMPANY LIMITED · CN

Inventors

• Ning Lu · South Burlington, US
• Jian GAO · Sichuan, CN
• Lin He · Irvine, US
• Jianyong Ge · Laishui, CN
• Tianpei Wang · Laishui, CN

Key dates

• Filing date: Jun 21, 2019
• Grant date: Mar 5, 2024
• Expiry date: Feb 5, 2041

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2554/80
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A method for controlling lane changing of a vehicle, including: receiving a lane changing instruction (step 101); acquiring a speed parameter of the vehicle (step 102); according to the speed parameter, determining a controlling coefficient of a predetermined controller (step 103); acquiring a position-deviation parameter and a heading-angle parameter of the vehicle; if the position-deviation parameter is greater than or equal to a first threshold, or, if the heading-angle parameter is greater than or equal to a second threshold, 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 (step 105). The cost of the vehicle lane changing is greatly reduced.