The embodiment of the invention relates to the technical field of auxiliary driving, and discloses a lane changing path planning method and device and a computer readable storage medium, and the method comprises the steps: obtaining a first position of a current vehicle on a current lane and a second position of a target vehicle on a target lane corresponding to the current lane; based on the first position and the second position, determining a relative position relationship between the target vehicle and the current vehicle; determining a lane changing intention of the target vehicle based on the driving state information of the target vehicle; and based on the relative position relationship and the lane changing intention, determining a path of changing the current vehicle from the current lane to the target lane. By applying the technical scheme of the invention, the relative position relationship between the target vehicle and the current vehicle can be combined with the lane changing intention of the target vehicle, so that the lane changing path of the current vehicle is planned, and the influence of the position relationship between the current vehicle and the target vehicle on lane changing of the current vehicle is fully considered; therefore, the lane changing safety is ensured, and the passing efficiency of the vehicle is ensured at the same time.

    本发明实施例涉及辅助驾驶技术领域,公开了一种变道路径规划方法、装置及计算机可读存储介质,该方法包括获取当前车辆在当前车道的第一位置以及当前车道对应的目标车道上目标车辆的第二位置;基于第一位置和第二位置,确定目标车辆与当前车辆之间的相对位置关系;基于目标车辆的行驶状态信息,确定目标车辆的变道意图;基于相对位置关系和变道意图,确定当前车辆由当前车道变道至目标车道的路径。应用本发明的技术方案,能够将目标车辆和当前车辆的相对位置关系与目标车辆的变道意图相结合,由此对当前车辆的变道路径进行规划,充分考虑当前车辆与目标车辆的位置关系对当前车辆的变道的影响,从而在保证变道安全性的同时,保证车辆的通行效率。


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    Titel :

    Lane changing path planning method and device and computer readable storage medium


    Weitere Titelangaben:

    变道路径规划方法、装置及计算机可读存储介质


    Beteiligte:
    ZHANG FANG (Autor:in) / DONG ZHIHUA (Autor:in) / XU JIANJIANG (Autor:in)

    Erscheinungsdatum :

    2024-03-29


    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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