The invention relates to the technical field of vehicles, in particular to a lane changing track planning method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the acceleration of a front vehicle and the acceleration of a rear vehicle in a target lane at the current moment; predicting a front vehicle motion state and a rear vehicle motion state in the target lane at the future moment according to the front vehicle acceleration and the rear vehicle acceleration in the target lane at the current moment; and determining a target lane changing space according to the motion state of the front vehicle and the motion state of the rear vehicle in the target lane in the future, and planning a lane changing track of the current vehicle according to the target lane changing space. Therefore, the problem that the risk of traffic accidents is increased due to the fact that the speed change of surrounding vehicles and the simultaneous lane change of vehicles on other lanes are not fully considered in the prior art is solved.

    本申请涉及车辆技术领域,特别涉及一种换道轨迹规划方法、装置、车辆及存储介质,其中,方法包括:获取当前时刻目标车道内前车加速度和后车加速度;根据当前时刻目标车道内前车加速度和后车加速度,预测未来时刻目标车道内前车运动状态与后车运动状态;根据未来时刻目标车道内前车运动状态与后车运动状态确定目标换道空间,根据目标换道空间规划当前车辆的换道轨迹。由此,解决了相关技术中未充分考虑周围车辆速度变化以及其他车道车辆同时换道的情况,增加了交通事故的风险等问题。


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    Title :

    Lane changing track planning method and device, vehicle and storage medium


    Additional title:

    换道轨迹规划方法、装置、车辆及存储介质


    Contributors:
    LI XIAOJIANG (author) / ZHANG JIAN (author) / WANG YU (author) / ZHOU FENG (author) / YU MIAO (author) / LIU CHANG (author)

    Publication date :

    2024-06-04


    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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