The invention provides a lane changing track generation method, device and equipment and an automatic driving vehicle, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving. According to the specific implementation scheme, the method comprises the steps of determining a to-be-converged target gap of a vehicle; performing track point expansion on the target track point to obtain expanded effective sub-track points; obtaining a local optimal sub-track point based on all the expanded effective sub-track points which are not determined as the target track points, determining the local optimal sub-track point as a new target track point, and returning to the step of carrying out track point expansion on the target track point until a track planning ending condition is met; obtaining all ancestor track points of the determined last target track point; and obtaining a lane changing track generated based on the last target track point and all the ancestor track points. By applying the scheme provided by the embodiment of the invention, the flexibility of generating the lane changing track can be improved.

    本公开提供了一种变道轨迹生成方法、装置、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领域。具体实现方案为:确定车辆待汇入的目标gap;对目标轨迹点进行轨迹点扩展,获得扩展出的有效子轨迹点;基于所有扩展出的、且未被确定为目标轨迹点的有效子轨迹点,获得局部最优子轨迹点,将所述局部最优子轨迹点确定为新的目标轨迹点,并返回对目标轨迹点进行轨迹点扩展的步骤,直至满足轨迹规划结束条件;获得所确定的最后一个目标轨迹点的所有祖先轨迹点;获得基于所述最后一个目标轨迹点和所述所有祖先轨迹点生成的变道轨迹。应用本公开实施例提供的方案,能够提高生成变道轨迹时的灵活性。


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    Title :

    Lane changing track generation method, device and equipment and automatic driving vehicle


    Additional title:

    一种变道轨迹生成方法、装置、设备及自动驾驶车辆


    Contributors:
    XIE MENGQI (author)

    Publication date :

    2023-03-14


    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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