The invention discloses a lane deviation rectification track generation method, device and equipment and a storage medium, and relates to the technical field of vehicle track planning, and the lane deviation rectification track generation method comprises the steps that when it is detected that a lane deviation rectification function of a vehicle is activated, the longitudinal speed, the current time and the initial transverse speed of the vehicle are obtained; constructing a quintic polynomial according to the longitudinal velocity, the current time and the initial transverse velocity; obtaining a target coefficient of the quintic polynomial according to the quintic polynomial and an optimization target function; and generating a correction track according to the quintic polynomial and the target coefficient. And by constructing a quintic polynomial and combining with an optimized objective function, generating a lane deviation correction track meeting smoothness and control requirements, and realizing automatic deviation correction of the vehicle.
本申请公开了一种车道纠偏轨迹生成方法、装置、设备及存储介质,涉及车辆轨迹规划技术领域,公开了车道纠偏轨迹生成方法,包括:在检测到车辆的车道纠偏功能激活时,获取所述车辆的纵向速度、当前时间以及初始横向速度;根据所述纵向速度、所述当前时间以及所述初始横向速度构建五次多项式;根据所述五次多项式和优化目标函数,得到所述五次多项式的目标系数;根据所述五次多项式和所述目标系数生成纠偏轨迹。通过构建五次多项式并结合优化目标函数,生成满足平滑性和控制要求的车道纠偏轨迹,实现车辆自动纠偏。
Lane deviation rectification track generation method, device and equipment and storage medium
车道纠偏轨迹生成方法、装置、设备及存储介质
28.02.2025
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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