{
  "$type": "site.standard.document",
  "description": "An automated vehicular lane changing method and apparatus, comprising: a vehicle in an automated driving state receiving a lane changing request, predicting a moving state of the vehicle when arriving at a lane changing endpoint, planning a lane changing path and a vehicle speed at an ith time for…",
  "path": "/patents/1424042",
  "publishedAt": "2023-06-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18163",
    "GUANGZHOU XIAOPENG MOTORS TECH CO LTD [CN]"
  ],
  "textContent": "An automated vehicular lane changing method and apparatus, comprising: a vehicle in an automated driving state receiving a lane changing request, predicting a moving state of the vehicle when arriving at a lane changing endpoint, planning a lane changing path and a vehicle speed at an ith time for the vehicle, determining a steering wheel turning angle of the vehicle at the ith time according to a curvature of the lane changing path, the vehicle speed and a model of a steering wheel turning angle, if the turning angle falls in a range of effective turning angles, determining a moving state of the vehicle at an (i+1)th time according to a vehicle motion model, the moving state of the vehicle and the steering wheel turning angle at the ith time, if the difference between the moving state of the vehicle at the (i+1)th time and the predicted moving state is less than a preset error, driving the vehicle to change the lane according to the lane changing path planned for each time at the planned vehicle speed.",
  "title": "AUTOMATED VEHICULAR LANE CHANGING METHOD AND APPARATUS"
}