The invention discloses a vehicle lane changing trajectory planning method based on a cubic B-spline curve, which comprises the following steps: determining the cubic B-spline curve as the vehicle lane changing trajectory planning method, and setting six control point coordinate parameters based on the cubic B-spline curve; and screening according to the six control evaluation indexes to obtain an optimal track. By applying the technical scheme, the safety and comfort of the intelligent driving vehicle during lane changing can be improved, the calculation steps are simple, and the calculation complexity of the intelligent driving vehicle during lane changing is reduced.
本发明公开了一种基于三次B样条曲线的车辆换道轨迹规划方法,包括以下步骤:确定三次B样条曲线为车辆换道轨迹规划方法,基于所述三次B样条曲线设定六个控制点坐标参数;根据所述六个控评价指标筛选得到最优轨迹。应用本技术方案可提高智能驾驶车辆在换道时的安全性与舒适性,且计算步骤简单,降低了智能驾驶车辆在换道时的计算复杂度。
Vehicle lane changing trajectory planning method based on cubic B-spline
一种基于三次B样条曲线的车辆换道轨迹规划方法
2023-12-08
Patent
Electronic Resource
Chinese
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