The embodiment of the invention discloses a vehicle lane changing trajectory planning method and device, equipment and a medium. The method comprises the following steps: acquiring a reference lane changing trajectory equation of a target vehicle; determining a first constraint condition of the reference lane changing trajectory equation, and performing parameter solving on the reference lane changing trajectory equation according to the first constraint condition to obtain a candidate lane changing trajectory equation of the target vehicle; wherein the first constraint condition is a boundary constraint condition of the target vehicle at the lane changing start-stop position; determining a second constraint condition of the candidate lane changing trajectory equation, and performing parameter solving on the candidate lane changing trajectory equation according to the second constraint condition to obtain a target lane changing trajectory equation of the target vehicle; wherein the second constraint condition is a transverse stability constraint condition of the target vehicle in the lane changing process. According to the technical scheme, vehicle lane changing track planning can be achieved based on the boundary constraint condition and the transverse stability constraint condition, and the vehicle lane changing safety is improved while the vehicle lane changing accuracy is ensured.

    本发明实施例公开了一种车辆换道轨迹规划方法、装置、设备及介质。其中,该方法包括:获取目标车辆的参考换道轨迹方程;确定参考换道轨迹方程的第一约束条件,根据第一约束条件对参考换道轨迹方程进行参数求解得到目标车辆的候选换道轨迹方程;其中,第一约束条件为目标车辆在换道起止位置的边界约束条件;确定候选换道轨迹方程的第二约束条件,根据第二约束条件对候选换道轨迹方程进行参数求解得到目标车辆的目标换道轨迹方程;其中,第二约束条件为目标车辆在换道过程中的横向稳定性约束条件。本技术方案,能够基于边界约束条件和横向稳定性约束条件实现车辆换道轨迹规划,在确保车辆换道准确性的同时提高了车辆换道的安全性。


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    Titel :

    Vehicle lane changing trajectory planning method, device, equipment and medium


    Weitere Titelangaben:

    一种车辆换道轨迹规划方法、装置、设备及介质


    Beteiligte:
    WANG XINZHI (Autor:in) / LIU JINBO (Autor:in) / ZHANG JIAN (Autor:in) / GAO YUAN (Autor:in) / LI BO (Autor:in)

    Erscheinungsdatum :

    2023-11-10


    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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