The embodiment of the invention provides a lane changing path planning method and device, electronic equipment and a computer readable medium. The method comprises the following steps: building a lanechanging path model based on a pre-selected lane changing reference line, and enabling the lane changing path model to be used for generating a lane changing path of a vehicle; calculating the centripetal acceleration of the vehicle changing the lane to a predetermined target lane at the current vehicle speed, and estimating the lane changing completion length and the lane changing completion point of the vehicle based on the centripetal acceleration obtained through calculation and the obtained lane changing decision information of the vehicle; determining a lane changing constraint condition according to the estimated lane changing completion length, the estimated lane changing completion point, and the road boundary and obstacles sensed by the vehicle; and optimizing the lane changingpath generated by the lane changing path model according to the lane changing constraint condition to obtain a lane changing path, meeting the lane changing constraint condition, of the vehicle.

    本公开实施例提供了一种变道路径规划方法、装置、电子设备和计算机可读介质,该方法包括:基于预先选定的变道参考线构建变道路径模型,变道路径模型用于生成车辆的变道路径;计算车辆在当前车速下变道至预定目标车道的向心加速度,基于计算得到的向心加速度和获取的车辆的变道决策信息,预估车辆的变道完成长度和变道完成点;根据预估的变道完成长度、预估的变道完成点、以及车辆感知的道路边界和障碍物,确定变道约束条件;根据变道约束条件对变道路径模型生成的变道路径进行优化处理,得到车辆的符合变道约束条件的变道路径。


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    Titel :

    Lane changing path planning method and device, electronic equipment and computer readable medium


    Weitere Titelangaben:

    变道路径规划方法、装置、电子设备和计算机可读介质


    Beteiligte:
    MA LIN (Autor:in) / FU XIAOXIN (Autor:in) / ZHU ZHENGUANG (Autor:in) / CHEN ZHIYUAN (Autor:in) / LI XUJIAN (Autor:in)

    Erscheinungsdatum :

    2020-05-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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