The invention relates to an unmanned vehicle lane changing planning method and system and a storage medium, and the method comprises the steps: H1, enabling a vehicle to receive a lane changing instruction of active lane changing, obtaining environment data information around the vehicle in real time based on a vehicle-mounted sensing system, judging whether a lane changing condition is met or not, entering a step H2 if the lane changing condition is met, and entering a step H2 if the lane changing condition is not met; if not, waiting until a lane changing condition is met; h2, based on the data information of the environment around the vehicle, lane changing of the vehicle is divided into two stages for lane changing, a first-stage lane changing algorithm is adopted to calculate a vehicle track, and first-stage lane changing track data information of the vehicle is output; and H3, based on the first-stage lane changing track data information of the vehicle, performing path planning on second-stage lane changing of the vehicle by adopting a second-stage lane changing algorithm, and outputting second-stage lane changing track data information of the vehicle. The safety, high efficiency and comfort in the lane changing process are improved, the passing efficiency is improved, and traffic accidents are reduced.

    本发明涉及一种无人驾驶车辆换道规划方法、系统及存储介质,所述方法包括:H1.车辆接收到主动换道的换道指令,基于车载感知系统实时获取车辆周围的环境数据信息,并进行判断是否满足换道条件,若满足则进入步骤H2,若不满足,则等待直到满足换道条件;H2.基于所述车辆周围的环境数据信息,将车辆换道分为两个阶段进行换道,采用第一阶段换道算法对车辆轨迹进行推算,输出车辆第一阶段换道轨迹数据信息;H3.基于所述车辆第一阶段换道轨迹数据信息,采用第二阶段换道算法对车辆第二阶段的换道进行路径规划,输出车辆第二阶段换道轨迹数据信息。本发明不仅提高了换道过程的安全性、高效性和舒适性,而且提高通行效率,减少交通事故的发生。


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    Title :

    Unmanned vehicle lane changing planning method and system and storage medium


    Additional title:

    一种无人驾驶车辆换道规划方法、系统及存储介质


    Contributors:
    LI WENSHUAI (author) / XIA HAIPENG (author) / LI MAN (author) / LI XIN (author) / ZHANG TENG (author) / SUN MENGCHENG (author) / WU DI (author)

    Publication date :

    2023-09-29


    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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