The invention relates to a lane changing track acquisition method and device, computer equipment, a storage medium and a computer program product, and the method comprises the steps: taking a center line of a vehicle driving lane as an S axis, taking a line perpendicular to the vehicle driving lane as an L axis, and building a target coordinate system; trajectory calculation is carried out based on the origin coordinates serving as the lane changing starting point and the L-axis coordinates of the lane changing end point in the lane adjacent to the vehicle running lane, an initial lane changing trajectory is obtained, and then the tail end S-axis coordinates corresponding to the tail end trajectory with the preset length at the tail end of the initial lane changing trajectory are obtained; in an intelligent driving scene, the smoothness of the tail end of the lane changing track can be guaranteed, the smoothness of the lane changing track is greatly improved, and it is guaranteed that the vehicle can stably run to the center of the lane after entering the target lane while rapid lane changing is achieved.

    本申请涉及一种换道轨迹获取方法、装置、计算机设备、存储介质和计算机程序产品,以车辆行驶车道的中心线为S轴,垂直于车辆行驶车道的线为L轴,建立目标坐标系,并基于作为换道起始点的原点坐标、以及与车辆行驶车道相邻的车道中的换道终点的L轴坐标进行轨迹计算,得到初始换道轨迹,然后获取初始换道轨迹末端预设长度的末端轨迹对应的末端S轴坐标,并对初始换道轨迹中末端轨迹的末端S轴坐标进行衰减处理,最终得到目标换道轨迹,在智能驾驶场景中,能够保证换道轨迹末端平滑,大大提高换道轨迹的平滑性,在实现快速换道的同时,保证车辆进入目标车道后能够平稳行驶到车道中心。


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    Title :

    Lane changing track acquisition method and device, computer equipment, medium and program product


    Additional title:

    换道轨迹获取方法、装置、计算机设备、介质和程序产品


    Contributors:
    YANG SHOUCHEN (author) / HAO ZHI (author) / PAN JIAN (author) / ZHAO ZIJIAN (author) / LIU XINYU (author) / ZHANG YUXUAN (author) / ZHAO BIN (author)

    Publication date :

    2023-03-31


    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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