The invention discloses an intelligent driving vehicle lane changing transverse path planning method and system and a vehicle. The method comprises the following steps: step 1, acquiring vehicle lane center line information, target lane center line information and vehicle speed information which are subjected to curve fitting; 2, according to the relative transverse distance between the center line of the target lane and the center line of the lane of the vehicle and the calibration quantity of the speed of the lane changing process, time parameters used for automatic lane changing transverse planning are calculated; 3, calculating an expected transverse distance st, an expected transverse speed vt, an expected transverse acceleration at and an expected transverse jerk jt at the moment t; and 4, calculating lane changing trajectory curvilinear equation parameters at the moment t by using the result of the step 3, fitting a curvilinear equation, outputting the curvilinear equation to a transverse controller, and performing transverse control on automatic lane changing.

    本发明公开了智能驾驶车辆变道横向路径规划方法、系统及车辆,主要步骤包括;步骤1:获取曲线拟合的本车车道中心线信息、目标车道中心线信息和本车车辆速度信息;步骤2:根据目标车道中心线和本车车道中心线的相对横向距离与变道过程快慢的标定量,计算用于自动变道横向规划的时间参数;步骤3:计算在t时刻的期望横向距离st,期望横向速度vt,期望横向加速度at和期望横向加加速度jt;步骤4:利用步骤3结果计算出t时刻的变道轨迹曲线方程参数,并拟合曲线方程输出到横向控制器,对自动变道进行横向控制。


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    Title :

    Intelligent driving vehicle lane changing transverse path planning method and system and vehicle


    Additional title:

    智能驾驶车辆变道横向路径规划方法、系统及车辆


    Contributors:
    QIAO RUIZHI (author) / HE YONG (author) / KONG ZHOUWEI (author) / REN FAN (author)

    Publication date :

    2022-05-17


    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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