{
  "$type": "site.standard.document",
  "description": "The present disclosure provides a method for controlling lane changing of a vehicle, wherein the method includes: 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…",
  "path": "/patents/1424623",
  "publishedAt": "2023-08-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W10/20",
    "GREAT WALL MOTOR CO LTD [CN]"
  ],
  "textContent": "The present disclosure provides a method for controlling lane changing of a vehicle, wherein the method includes: 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 speed parameter, the position-deviation parameter and the heading angle can be acquired by using a speed sensor and an onboard camera, and do not require to rely on a high-accuracy locating system, which can greatly reduce the cost of the vehicle lane changing and the occupation of the resource of the controller.",
  "title": "VEHICLE LANE CHANGE CONTROL METHOD AND DEVICE"
}