The invention provides a lane changing track planning method, a vehicle, electronic equipment and a computer program product, and the method comprises the steps: obtaining environment data of a driving environment where a current vehicle is located, and determining a current lane where the current vehicle is located and target vehicles except the current vehicle on the target lane based on the environment data, the current vehicle is a vehicle to be subjected to lane changing, the target lane is a lane into which the current vehicle is to be subjected to lane changing, whether at least one effective lane changing area exists on the target lane or not is determined based on the driving state information of the current vehicle and the driving state information of the target vehicle, and the effective lane changing area refers to an area into which the current vehicle can be subjected to lane changing; under the condition that at least one effective lane changing area exists, the target lane changing area is determined from the at least one effective lane changing area, the lane changing track of the current vehicle running to the target lane changing area is determined based on the dynamic planning algorithm, and the accuracy and safety of the lane changing track can be improved.

    本公开提供了一种换道轨迹的规划方法、车辆、电子设备及计算机程序产品,其中,该方法包括:获取当前车辆所处行驶环境的环境数据,并基于环境数据确定当前车辆所处的当前车道与目标车道上除当前车辆以外的目标车辆,其中,当前车辆为待换道的车辆,目标车道为当前车辆待换道进入的车道,基于当前车辆的行驶状态信息以及目标车辆的行驶状态信息,确定目标车道上是否存在至少一个有效换道区域,其中,有效换道区域是指能够使当前车辆换道进入的区域,在存在至少一个有效换道区域的情况下,从至少一个有效换道区域中确定目标换道区域,基于动态规划算法确定当前车辆行驶至目标换道区域的换道轨迹,有助于提升换道轨迹的准确性和安全性。


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    Title :

    Lane changing track planning method, vehicle, electronic equipment and computer program product


    Additional title:

    换道轨迹的规划方法、车辆、电子设备及计算机程序产品


    Contributors:

    Publication date :

    2023-04-18


    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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