The invention provides a lane changing track generation method and device and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving. According to the specific implementation scheme, under the condition that a first vehicle has the lane changing intention of changing a lane to a second lane where a second vehicle is located, the included angle between the speed direction of the first vehicle when the first vehicle has the lane changing intention and the lane direction of the first lane is determined, and the lane direction of the first lane is determined according to the current position of the first vehicle, the current speed of the first vehicle and the included angle; determining the position of a target point passed by the first vehicle on the common boundary line in the process of changing the first vehicle from the first lane to the second lane, and determining the position of a lane changing terminal point of the first vehicle according to the position of the target point and the current vehicle speed of the first vehicle; and generating a lane changing track of the first vehicle according to the current position, the position of the target point and the position of the lane changing terminal point. Therefore, the lane changing track of the first vehicle is accurately determined, and the safety of automatic driving of the second vehicle can be improved.
本公开提供了一种变道轨迹的生成方法、装置和存储介质,涉及人工智能技术领域,具体涉及自动驾驶技术领域。具体实现方案为:在第一车辆有变道至第二车辆所在的第二车道的变道意图的情况下,确定第一车辆在有变道意图时的速度方向与第一车道的车道方向之间的夹角,并根据第一车辆的当前位置、第一车辆的当前车速和夹角,确定第一车辆从第一车道变道至第二车道的过程中在共用边界线上经过的目标点的位置,以及根据目标点的位置和第一车辆的当前车速,确定第一车辆的变道终点的位置;根据当前位置、目标点的位置和变道终点的位置,生成第一车辆的变道轨迹。由此,准确确定出了第一车辆的变道轨迹,从而可提高第二车辆自动驾驶的安全性。
Lane changing track generation method and device and storage medium
变道轨迹的生成方法、装置和存储介质
2023-04-14
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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