The invention provides a lane changing track generation method and device for an automatic driving vehicle, and belongs to the technical field of automatic driving vehicle control. The method comprises: obtaining current driving parameters of a vehicle, and determining lane changing time of each preset lane changing stage according to the current driving parameters and a preset algorithm; according to the track algorithm corresponding to each preset lane changing stage, determining the acceleration and the steering angle of the vehicle in each preset lane changing stage, wherein the changes ofthe acceleration and the steering angle of the vehicle are not zero at the same time; and generating a lane changing track of the vehicle according to the lane changing time of each preset lane changing stage and the speed and the steering angle of the vehicle in each preset lane changing stage. Due to the fact that the acceleration and the steering angle of the vehicle are not zero at the same time, the vehicle does not accelerate during steering and does not steer during acceleration, and the deviation of the actual motion trail of the vehicle is reduced.

    本申请提供一种自动驾驶车辆的变道轨迹生成方法及装置,属于自动驾驶车辆的控制技术领域。该方法包括:获取车辆的当前驾驶参数,根据当前驾驶参数以及预设算法确定各预设变道阶段的变道时间;根据各预设变道阶段对应的轨迹算法,确定各预设变道阶段中车辆的加速度和转向角,其中,车辆的加速度和转向角变化不同时为非0;根据各预设变道阶段的变道时间、各预设变道阶段中车辆的速度和转向角,生成车辆的变道轨迹。由于在车辆的加速度和转向角变化不同时为非0,实现了车辆在转向时不加速,加速时不转向,降低了车辆实际运动轨迹的偏差。


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    Title :

    Lane changing track generation method and device for automatic driving vehicle


    Additional title:

    一种自动驾驶车辆的变道轨迹生成方法及装置


    Contributors:
    XIANG NAN (author)

    Publication date :

    2020-06-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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