公开(公告)号：US20210269038A1

公开(公告)日：2021-09-02

申请号：US17255215

申请日：2019-06-21

Applicant: GREAT WALL MOTOR COMPANY LIMITED

Inventor： Ning LU ,  Jian GAO ,  Lin HE ,  Jianyong GE ,  Tianpei WANG

IPC: B60W30/18 ,  B60W40/105 ,  B60W10/20

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.