The invention provides a lane changing trajectory planning method and device, equipment and a storage medium, relates to the field of computers, and in particular, relates to the field of automatic driving. According to the specific implementation scheme, the method comprises the steps: obtaining multiple candidate lane changing tracks of vehicle lane changing, wherein the candidate lane changing tracks are used for describing characteristic parameters of lane changing operation executed by a vehicle; determining a lane changing cost integral item corresponding to each candidate lane changing track according to the characteristic parameter corresponding to each candidate lane changing track; determining a lane changing cost value corresponding to each candidate lane changing track according to the lane changing cost integral item of each candidate lane changing track and a preset lane changing cost evaluation strategy; and determining the candidate lane changing track with the minimum lane changing cost value as an execution lane changing track of the vehicle.

    本公开提供了一种变道轨迹规划方法、装置、设备以及存储介质,涉及计算机领域,尤其涉及自动驾驶领域。具体实现方案为:获取车辆变道的多条候选变道轨迹,候选变道轨迹用于描述车辆执行变道操作的特征参数;分别根据各条候选变道轨迹对应的特征参数,确定对应各条候选变道轨迹的变道代价积分项;根据各条候选变道轨迹的变道代价积分项以及预设的变道代价评估策略,确定对应各条候选变道轨迹的变道代价值;将变道代价值最小的候选变道轨迹确定为车辆的执行变道轨迹。


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    Title :

    Lane changing trajectory planning method and device, equipment and storage medium


    Additional title:

    一种变道轨迹规划方法、装置、设备以及存储介质


    Contributors:
    CHEN PENGXU (author) / LIN JIAN (author)

    Publication date :

    2022-01-28


    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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