The invention provides a method, device and equipment for planning a lane changing path of a vehicle and a readable storage medium, which can be used for intelligent driving and comprise the followingsteps: acquiring a current first motion state of the vehicle and lane center line information of a lane where the vehicle is located; mapping the first motion state from a vehicle coordinate system of the vehicle to a reference coordinate system taking a lane center line as a reference line to obtain a second motion state; determining a reference lane changing path in a reference coordinate system according to the second motion state; and mapping the reference lane changing path into a vehicle coordinate system to obtain a target lane changing path. According to the method, the device, the equipment and the readable storage medium provided by the embodiment of the invention, the reference lane changing path is determined in the reference coordinate system, so that the reference lane changing path is more convenient to solve. And the reference coordinate system is constructed based on the center line of the lane where the vehicle is located, and the curve situation is naturally considered, so that the planned lane changing path conforms to the change trend of the curved road and more conforms to the driving habit of human beings.

    本公开提供一种规划车辆变道路径的方法、装置、设备及可读存储介质,可用于智能驾驶,包括:获取车辆当前的第一运动状态以及车辆所在车道的车道中心线信息;将第一运动状态从车辆的车辆坐标系映射到以车道中心线为参考线的参考坐标系中,得到第二运动状态;根据第二运动状态在参考坐标系中确定参考变道路径;将参考变道路径映射到车辆坐标系中,得到目标变道路径。本实施例提供的方法、装置、设备及可读存储介质中,在参考坐标系中确定参考变道路径,更便于求解出参考变道路径。且参考坐标系是以车辆所在车道中心线构建的,天然的考虑了弯道情况,使得规划出的变道路径符合弯曲道路的变化趋势,更符合人类的驾驶习惯。


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    Titel :

    Method, device and equipment for planning lane changing path of vehicle and readable storage medium


    Weitere Titelangaben:

    规划车辆变道路径的方法、装置、设备及可读存储介质


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

    Erscheinungsdatum :

    2020-06-05


    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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