The embodiment of the invention discloses a lane-changing driving track planning method, device and equipment and a medium, and the method comprises the steps: determining a preset driving track within a preset lane-changing time based on a millimeter-wave radar signal, the first motion state information of the adjacent vehicle on the lane where the current vehicle is located and the second motion state information of the adjacent vehicle on the target switching target lane are obtained; based on the first motion state information and the second motion state information, planning solving of motion state planning of the current vehicle is carried out, and the optimal longitudinal speed sequence of the current vehicle within the preset lane changing time is obtained; and planning and solving the motion state of the current vehicle based on the optimal longitudinal speed sequence and the preset deviation value of the at least one transverse motion state parameter to obtain the optimal lane changing driving track of the current vehicle in the preset lane changing time, thereby realizing the transverse and longitudinal combined planning of the lane changing path. It is ensured that the solution of the quadratic programming problem can be found all the time in the path planning process, and the stability of path planning is improved.

    本发明实施例公开了一种变道行车轨迹规划方法、装置、设备和介质,其中,方法包括:基于毫米波雷达信号确定在预设变道时间内,在当前车辆所在车道上且与其相邻车辆的第一运动状态信息和在目标切换标车道上与其相邻车辆的第二运动状态信息;基于第一运动状态信息与第二运动状态信息进行当前车辆的运动状态规划的规划求解,得到当前车辆在预设变道时间内的最优纵向速度序列;基于最优纵向速度序列以及至少一个横向运动状态参数的预设偏差值进行将当前车辆的运动状态规划求解,得到当前车辆在预设变道时间内的最优变道行车轨迹,实现了通过横向和纵向联合规划车道变换路径,确保在路径规划过程中一直能找到二次规划问题的解,提高路径规划的稳定性。


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    Title :

    Lane-changing driving track planning method, device, equipment and medium


    Additional title:

    一种变道行车轨迹规划方法、装置、设备和介质


    Contributors:
    LI HE (author) / TAN MINGWEI (author) / CAI SHIMIN (author) / CHEN HANYAO (author) / GAO RUSHAN (author) / LENG CHANGFENG (author) / XU GANG (author) / HAN HYUN-HYUN (author)

    Publication date :

    2022-07-08


    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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