The invention discloses a vehicle lane changing track planning method and device, equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: determining an initial lane and a target lane of a target vehicle in a lane changing process, and determining a lane boundary line between the lanes; determining a first state condition of the target vehicle in the initial lane, a second state condition of the target vehicle in the lane boundary line and a third state condition of the target vehicle in the target lane based on the target motion information; determining a preset target model representing transverse and longitudinal lane changing tracks, obtaining a first lane changing track between the initial lane and the lane boundary line based on the first state condition, the second state condition and the target model, and obtaining a second lane changing track between the lane boundary line and the target lane based on the second state condition, the third state condition and the target model; and connecting the first lane changing track and the second lane changing track under a preset constraint condition to obtain a total lane changing track. And the lane changing track can be fitted more accurately through segmented planning of the lane changing track.
本申请公开了一种车辆变道轨迹规划方法、装置、设备及介质,涉及自动驾驶技术领域,包括:确定目标车辆在变道过程中的初始车道和目标车道,并确定车道之间的车道边界线;基于目标运动信息确定出目标车辆在初始车道的第一状态条件、在车道边界线的第二状态条件和在目标车道的第三状态条件;确定预设的表征横纵向变道轨迹的目标模型,基于第一状态条件、第二状态条件和目标模型获取初始车道和车道边界线之间的第一变道轨迹,基于第二状态条件、第三状态条件和目标模型获取车道边界线和目标车道之间的第二变道轨迹;在预设约束条件下连接第一变道轨迹和第二变道轨迹以得到总变道轨迹。通过分段规划变道轨迹,能更精确的拟合变道轨迹。
Vehicle lane changing trajectory planning method, device, equipment and medium
一种车辆变道轨迹规划方法、装置、设备及介质
2023-03-31
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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