The invention discloses a vehicle lane changing path planning method, which comprises the following steps of: acquiring current driving information of a vehicle, which at least comprises a current vehicle speed, a current maximum permitted vehicle speed, a current vehicle acceleration and a current vehicle orientation angle; determining a target lane for the vehicle to change the lane, defining the maximum distance required by the vehicle to change the lane to the target lane as the current permitted lane changing distance, and representing the current permitted lane changing distance as a function of the vehicle speed, the acceleration and the driving time according to the magnitude relationship between the current vehicle speed and the current permitted maximum vehicle speed; planning a first lane changing boundary route according to a function of the current permitted lane changing distance, the speed, the acceleration and the driving time, and planning a second lane changing boundary route according to the orientation angle of the current vehicle and the distance between the current vehicle and the boundary line of the target lane; and performing secondary planning based on the first lane changing boundary route and the second lane changing boundary route to obtain an optimal lane changing boundary route. The invention further discloses a vehicle lane changing path planning device, a vehicle and a storage medium.

    本发明公开了一种车辆变道路径规划方法,包括:获取车辆当前行驶信息,至少包括当前车速、当前最大准许车速、当前车辆加速度、当前车辆朝向角度;确定车辆变道的目标车道,定义车辆变道至目标车道所需的最大距离为当前准许变道距离,根据当前车速和当前准许最大车速的大小关系,将当前准许变道距离表示为车速、加速度和行驶时间的函数;根据当前准许变道距离与速度、加速度和行驶时间的函数规划第一变道边界路线,根据当前车辆的朝向角度和与目标车道的边界线之间的距离规划第二变道边界路线;基于第一变道边界路线和第二变道边界路线进行二次规划,以获取最优变道边界路线。本发明还公开了一种车辆变道路径规划装置、车辆以及存储介质。


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    Titel :

    Vehicle lane changing path planning method and device, vehicle and storage medium


    Weitere Titelangaben:

    一种车辆变道路径规划方法、装置、车辆以及存储介质


    Beteiligte:
    CUI XINYU (Autor:in) / LIU YI (Autor:in)

    Erscheinungsdatum :

    2023-08-29


    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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