The embodiment of the invention discloses a track planning method, device and equipment for a lane change scene, and the method comprises the steps: determining the starting lane information and target lane information before and after the lane change based on the driving speed information and perception information of a target vehicle, and obtaining the track planning of the lane change scene according to the driving speed information, the starting lane information and the target lane information; and transverse acceleration information of the target vehicle is obtained through calculation, so that track planning information during lane change of the target vehicle is generated. Compared with a lane changing mode using high-precision positioning hardware, a lane-level high-precision map and fused positioning software, the scheme is simple, the calculation amount is smaller, and dependence on the high-precision map and the high-precision positioning hardware is not needed, so that the driving lever lane changing function (ILCA) can be implemented on the L2-level and higher-level automatic driving vehicles.

    本说明书实施例公开了一种车道变更场景的轨迹规划方法、装置及设备,该方案包括:基于目标车辆的行驶速度信息和感知信息,确定车道变更前后行驶的起始车道信息和目标车道信息,根据行驶速度信息、起始车道信息和目标车道信息,计算得到目标车辆的横向加速度信息,从而生成目标车辆的车道变更时的轨迹规划信息。相较于使用高精定位硬件、车道级高精地图以及融合定位软件的变道方式,方案简单且运算量更小,且不需依赖高精度地图和高精定位硬件,由此使得拨杆变道功能(ILCA)得以在L2级以及L2级以上等级的自动驾驶车辆上实施。


    Access

    Download


    Export, share and cite



    Title :

    Trajectory planning method, device and equipment for lane change scene


    Additional title:

    一种车道变更场景的轨迹规划方法、装置及设备


    Contributors:
    LI YANG (author)

    Publication date :

    2024-01-26


    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



    Lane change trajectory planning system

    GUO CHONG / LUO SHUIPING / LI XIAOJIANG et al. | European Patent Office | 2020

    Free access

    Lane-change trajectory planning method for driverless vehicles based on trajectory prediction

    Zhang, Shuai / Wang, Yonghai / Hu, Yi | British Library Conference Proceedings | 2023


    LANE CHANGE PLANNING DEVICE AND LANE CHANGE PLANNING METHOD

    MASUTANI OSAMU | European Patent Office | 2015

    Free access

    Vehicle lane changing trajectory planning method, device, equipment and medium

    WANG XINZHI / LIU JINBO / ZHANG JIAN et al. | European Patent Office | 2023

    Free access