The invention relates to a vehicle lane changing planning method, an automatic driving vehicle and a storage medium. The method comprises the steps of obtaining a current lane and a target lane of a vehicle and a lane changing neutral position on the target lane, and obtaining a preset end point of lane changing of the vehicle according to the relative position of the lane changing neutral position and the vehicle, according to the current motion state of the vehicle, the motion final state of the vehicle at the preset end point and the preset lane changing time, acquiring longitudinal motionparameters and transverse motion parameters needed by lane changing of the vehicle, and according to the longitudinal motion parameters, the transverse motion parameters and preset lane changing time,obtaining a predicted lane changing track of the vehicle. By means of the method, the problem that under the condition that the lane changing space of the vehicle is insufficient, the lane changing efficiency of the vehicle is reduced is solved, the vehicle actively gets close to the lane changing neutral position by changing the longitudinal speed of the vehicle, and the lane changing efficiencyof the vehicle is improved.
本申请涉及一种车辆变道规划的方法、自动驾驶车辆和存储介质,其中,车辆变道规划的方法包括:获取车辆的当前车道、目标车道和目标车道上的变道空档,根据变道空档与车辆的相对位置,获取车辆进行变道的预设终点;根据车辆的当前运动状态、车辆在预设终点的运动终态和预设变道时间,获取车辆变道所需的纵向运动参数和横向运动参数;根据纵向运动参数、横向运动参数和预设变道时间,获取车辆进行变道的预测轨迹。通过本申请,解决了在车辆变道空间不足的情况下,车辆变道的效率降低的问题,通过车辆改变纵向速度,实现了车辆主动靠近变道空档,提高了车辆的变道效率。
Vehicle lane changing planning method, automatic driving vehicle and storage medium
车辆变道规划的方法、自动驾驶车辆和存储介质
2020-11-13
Patent
Electronic Resource
Chinese
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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