The invention discloses a lane changing triggering method and device, electronic equipment and an automatic driving vehicle, and relates to the technical field of artificial intelligence, in particular to the automatic driving technology. According to the specific implementation scheme, when a main vehicle meets a lane changing condition, the driving environment of the main vehicle is recognized at the current moment; if the driving environment of the main vehicle is identified as the special-shaped map topology, constructing a reference line of a target lane on the target lane of the main vehicle; planning a lane changing path line shape of the main vehicle based on the constraint point of the main vehicle converging to the target lane and the reference line of the target lane; and triggering the main vehicle to change the lane according to the lane changing path line shape. According to the embodiment of the invention, lane changing in advance can be realized in the special-shaped map topology, the main vehicle can be triggered to enter the target lane in advance, and the intelligence and the flexibility are higher, so that traffic jam and traffic accidents can be avoided to a great extent.

    本申请公开了一种变道触发方法、装置、电子设备及自动驾驶车辆,涉及人工智能技术领域,尤其涉及自动驾驶技术。具体实现方案为:当主车满足变道条件时,在当前时刻上对主车的行车环境进行识别;若识别出主车的行车环境为异形地图拓扑,则在主车的目标车道上构建目标车道的参考线;基于主车汇入至目标车道的约束点以及目标车道的参考线,规划主车的变道路径线形;根据变道路径线形触发主车进行变道。本申请实施例可以在异形地图拓扑中实现提前变道,能够提前触发主车汇入至目标车道,智能性和灵活性更强,从而可以极大程度地避免交通堵塞和交通事故的发生。


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    Title :

    Lane changing triggering method and device, electronic equipment and automatic driving vehicle


    Additional title:

    一种变道触发方法、装置、电子设备及自动驾驶车辆


    Contributors:
    ZHANG KUAN (author)

    Publication date :

    2022-06-28


    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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