The invention discloses a vehicle lane changing trajectory planning method. The method comprises the following steps: S1, collecting lane information of a lane where a vehicle is located and a side adjacent lane changing lane, and determining target vehicles on the lane and the side adjacent lane changing lane and target vehicle information; s2, generating a group of preview points on a side adjacent lane changing lane in front of driving, forming a plurality of alternative lane changing tracks by taking the current pose of the vehicle as a starting point and the pose of the preview points as an end point, and putting the alternative lane changing tracks into an alternative pool; and S3, deleting the alternative lane changing track with the collision risk and the driving safety risk in the alternative pool, and taking the alternative lane changing track with the minimum comfort cost in the alternative pool as the current lane changing track. According to the lane changing track generated by the vehicle lane changing track planning method provided by the invention, the risks of collision, instability and rollover of the vehicle are greatly reduced, and the lane changing track is a continuous and smooth driving lane changing track which can be safely executed, so that the comfort and the safety of a driving assistance system are improved.
本发明公开一种车辆变道轨迹规划方法包括如下步骤:S1、采集本车所在车道及侧临变道车道的车道信息,确定本车道及侧临变道车道上的目标车辆及目标车辆信息;S2、在行驶前方的侧临变道车道上生成一组预瞄点,以本车当前位姿为起点,预瞄点位姿为终点,形成多条备选变道轨迹,放入备选池中;S3、在备选池中删除存在碰撞风险、行驶安全风险的备选变道轨迹,将备选池中舒适性成本最小的备选变道轨迹作为当前的变道轨迹出。于本发明提供的车辆变道轨迹规划方法生成的变道轨迹,极大降低了车辆发生碰撞、失稳和侧翻的风险,且是连续、平滑且可被安全执行的行车变道轨迹,提升驾驶辅助系统的舒适性和安全性。
Vehicle lane changing trajectory planning method and system and automobile
一种车辆变道轨迹规划方法、系统及汽车
2023-07-21
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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