The invention relates to an intelligent driving lane changing track generation method. The method comprises the steps that a target lane is judged; calculating a lane changing track SL equation; calculating the transverse offset distance of the preview point; calculating a lane changing trajectory fitting equation; the lane changing track fitting equation is the final output result of the intelligent driving lane changing track generation method. The invention also relates to an intelligent driving lane changing track generation system, which comprises a computer readable program and is used for executing any step in the intelligent driving lane changing track generation method. The invention further relates to a computer readable storage medium of the storage track generation system. The computer readable storage medium comprises a memory and a controller. A computer readable program is stored in the memory; the controller calls a computer readable program. The method only depends on the camera, and does not need a high-precision map; and the device is suitable for straight ways and curved ways.
本发明涉及智能驾驶换道轨迹生成方法,包含步骤:判定目标车道;计算换道轨迹SL方程;计算预瞄点的横向偏移距离;计算换道轨迹拟合方程;换道轨迹拟合方程即为本智能驾驶换道轨迹生成方法的最终输出结果。本发明还涉及智能驾驶换道轨迹生成系统,包含计算机可读程序,执行智能驾驶换道轨迹生成方法中的任意步骤。本发明还涉及存储轨迹生成系统的计算机可读存储介质,包括存储器和控制器;存储器中存储有计算机可读程序;控制器调用计算机可读程序。本发明仅依赖于摄像头,不需要高精度地图;不仅适用于直道,还适用于弯道。
Intelligent driving lane changing track generation method and system and computer storage medium
智能驾驶换道轨迹生成方法、系统和计算机存储介质
2022-09-16
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 |
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