The invention provides a lane changing path planning method and device, equipment and a computer readable storage medium. The method comprises the steps that motion parameter information and environment information of a vehicle are acquired; determining a current road longitudinal slope gradient of the vehicle based on the motion parameter information and a preset vehicle uniform acceleration model; the preset vehicle average acceleration model represents that the real acceleration of the vehicle is estimated through Kalman filtering; determining a total cost function based on the current road longitudinal slope gradient; and performing calculation according to the total cost function and a preset safety criterion, determining an optimal planning path, and completing planning of the active lane changing path. According to the above scheme, the current road longitudinal slope gradient of the vehicle is determined according to the preset vehicle uniform acceleration model, the total cost function is established according to the current road longitudinal slope gradient, and path planning is performed through the total cost function and the preset safety criterion. The planning safety of the lane changing path can be improved.
本申请提供了一种换道路径的规划方法及装置、设备、计算机可读存储介质,该方法包括:获取车辆的运动参数信息和环境信息;基于运动参数信息和预设车辆均加速模型,确定车辆的当前道路纵坡坡度;预设车辆均加速模型表征通过卡尔曼滤波估算车辆的真实加速度;基于当前道路纵坡坡度,确定总代价函数;根据总代价函数和预设安全准则,进行计算,确定最优的规划路径,完成主动换道路径的规划。上述方案中,根据预设车辆均加速模型,确定车辆的当前道路纵坡坡度,根据当前道路纵坡坡度建立总代价函数,通过总代价函数和预设安全准则进行路径规划,由于将道路纵坡坡度因素考虑到规划中,使得在道路纵坡坡度场景下,能够提高换道路径的规划的安全性。
Lane changing path planning method and device, equipment and computer readable storage medium
换道路径的规划方法及装置、设备、计算机可读存储介质
2023-10-13
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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