本申请提供了一种换道轨迹的规划方法和装置,旨在规划换道轨迹的过程中,综合考虑车辆的方向盘转角、车辆的方向盘转速以及车辆的航向角偏差中的至少两种换道控制参数,并对上述换道控制参数的采样区间进行采样,得到换道控制参数的多组采样点,最后基于多组采样点规划车辆的换道轨迹,以提高换道轨迹的合理性。避免了现有的换道轨迹的规划方案中,按照多项式曲线生成的换道轨迹行驶时,在换道过程中进场会遇到车辆的方向盘转速调整速度过大,或者方向盘转角过大,导致车辆中乘客的体感上的不适。本申请的方案适用于具有自动驾驶功能的车辆。
A lane change track planning method is provided, and includes: obtaining a current vehicle speed of a vehicle; determining a sampling interval that is of a lane change control parameter and that corresponds to the current vehicle speed; performing sampling in the sampling interval of the lane change control parameter to obtain a lane change control parameter set; determining a change with time of the lane change control parameter set; and planning a lane change track that is of the vehicle and that corresponds to the lane change control parameter set. A lane change track planning apparatus, a computing device, and a computer-readable medium are also disclosed.
换道轨迹的规划方法及装置
2024-07-19
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 |