The embodiment of the invention provides a vehicle lane changing method and device, and relates to the technical field of automatic driving. The method specifically comprises the steps of: acquiring afirst feasible region according to the position of a vehicle when a secondary lane changing instruction is received; with the first feasible region being an original feasible region, calculating theconstraint of the first feasible region according to a speed of the vehicle and a centripetal acceleration of the vehicle; constraining the first feasible region according to the constraint of the first feasible region to obtain a second feasible region, wherein the range of the second feasible region is smaller than that of the first feasible region; and determining a secondary lane changing track in the second feasible region. Therefore, a short secondary lane changing track can be obtained, and the secondary lane changing efficiency can be improved.
本申请实施例提供一种车辆变道的方法及装置,涉及自动驾驶技术领域,具体包括:接收到二次变道指令时,根据车辆的位置获取第一可行域;第一可行域可以为原始可行域,进而根据车辆的速度和车辆的向心加速度计算第一可行域的约束;根据第一可行域的约束对第一可行域约束,得到第二可行域;则第二可行域的范围小于第一可行域,在第二可行域中确定二次变道轨迹,因此将会得到较短的二次变道轨迹,因此能够提升二次变道的效率。
Vehicle lane changing method and device
车辆变道的方法及装置
2020-06-09
Patent
Elektronische Ressource
Chinesisch
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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