The invention relates to a trajectory planning method, a vehicle control method and device, a storage medium and a vehicle. The trajectory planning method comprises the following steps: acquiring predicted longitudinal driving information of a vehicle and predicted longitudinal moving information of an obstacle; the longitudinal direction is the extension direction of the current road; on the basis of the predicted longitudinal driving information and the predicted longitudinal moving information, the feasibility of vehicle lane changing from the vehicle lane of the current road to the target lane of the current road within the predicted lane changing duration is determined; and under the condition that the feasibility of vehicle lane changing meets a preset condition for safe driving, according to the predicted longitudinal driving information, planning a target track of vehicle lane changing of the vehicle. According to the trajectory planning method, computing power resources can be saved, and the effect of reducing the application cost of the driving assistance technology on vehicle lane changing is achieved.
本发明涉及一种轨迹规划方法、车辆的控制方法、装置、存储介质及车辆。轨迹规划方法包括:获取自车的预测纵向行驶信息和障碍物的预测纵向移动信息;纵向为当前道路的延伸方向;基于预测纵向行驶信息和预测纵向移动信息,确定出在预测换道时长内,自车从当前道路的自车车道到当前道路的目标车道进行车辆换道的可行性;在车辆换道的可行性满足用于安全驾驶的预设条件的情况下,根据预测纵向行驶信息,规划自车进行车辆换道的目标轨迹。本轨迹规划方法可节省算力资源,达到降低驾驶辅助技术在车辆换道上的应用成本的效果。
Track planning method and device, vehicle control method and device, storage medium and vehicle
轨迹规划方法、车辆的控制方法、装置、存储介质及车辆
2024-03-22
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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