The invention discloses a path planning method, device and equipment for emergency exit in lane changing. The method comprises the following steps: acquiring vehicle information in an automatic lane changing process and adjacent vehicle information of an adjacent lane to be switched; if it is predicted that a collision risk exists between the vehicle and the adjacent vehicle according to the vehicle information and the adjacent vehicle information, a critical collision moment is determined according to the vehicle information and the adjacent vehicle information; based on the critical collision moment, according to the information of the vehicle and the information of the adjacent vehicle, the initial state of the vehicle at the lane changing exit starting point, the end state of the vehicle at the lane changing exit end point and the exit displacement from the lane changing exit starting point to the lane changing exit end point are determined; and according to the initial state, the time difference between the current moment and the critical collision moment, the end state and the exit displacement, an optimal lane changing exit path is determined, and the vehicle is controlled to emergently exit the automatic lane changing process according to the optimal lane changing exit path. The embodiment of the invention can reduce the accident probability in the lane changing process.

    本发明公开了一种换道途中紧急退出的路径规划方法、装置和设备。该方法包括:获取自动换道过程中的本车信息和待切换相邻车道的相邻车信息;若根据所述本车信息和所述相邻车信息预测本车和相邻车存在碰撞风险,则根据所述本车信息和所述相邻车信息确定临界碰撞时刻;基于所述临界碰撞时刻,根据所述本车信息和所述相邻车信息确定本车在换道退出起点的起始状态、在换道退出终点的结束状态和换道退出起点至换道退出终点的退出位移;根据所述起始状态、当前时刻与所述临界碰撞时刻的时间差、所述结束状态和所述退出位移确定最优换道退出路径,并控制本车按照所述最优换道退出路径紧急退出所述自动换道过程。本发明实施例可以降低换道过程事故概率。


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    Titel :

    Path planning method, device and equipment for emergency exit on lane changing way


    Weitere Titelangaben:

    一种换道途中紧急退出的路径规划方法、装置和设备


    Beteiligte:
    ZHANG SHAN (Autor:in)

    Erscheinungsdatum :

    2023-09-01


    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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