The invention relates to a lane changing track planning method and device, equipment, a storage medium and a vehicle, lane changing information of a current vehicle and surrounding vehicle information are obtained, the surrounding vehicle information comprises the position, orientation and speed of a vehicle in a preset area, the lane changing information is converted into a plurality of groups of action sequences, and the action sequences are used for planning a lane changing track. And obtaining a plurality of lane changing tracks of the current vehicle according to the plurality of groups of action sequences and the surrounding vehicle information, performing safety judgment on each lane changing track, and determining a target lane changing track from the plurality of lane changing tracks. Due to the fact that the multiple groups of action sequences are divided based on the lane changing time, the multiple lane changing tracks are obtained based on the multiple groups of action sequences, safe lane changing tracks under different lane changing time can be planned, which time period is safe in lane changing in the future can be determined, and the flexibility of the lane changing tracks of the vehicle is improved. According to the method, the safety of each lane changing track is judged, and the target lane changing track is determined from the plurality of lane changing tracks, so that the safety of the planned lane changing track is improved, and dangers are avoided.

    本公开涉及一种变道轨迹规划方法、装置、设备、存储介质及车辆,通过获取当前车辆的变道信息以及周围的车辆信息,周围的车辆信息包括预设区域内的车辆的位置、朝向、速度,将变道信息转化为多组动作序列,根据多组动作序列以及周围的车辆信息,得到当前车辆的多条变道轨迹,对每条变道轨迹进行安全判定,从多条变道轨迹中确定目标变道轨迹。由于多组动作序列是基于变道时机划分的,基于多组动作序列得到多条变道轨迹,可以规划出不同变道时机下的安全的变道轨迹,即确定出未来的哪段时间变道是安全的,提高车辆变道轨迹的灵活性。对每条变道轨迹进行安全判定,从多条变道轨迹中确定目标变道轨迹,提高了规划出的变道轨迹的安全性,避免发生危险。


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    Title :

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


    Additional title:

    变道轨迹规划方法、装置、设备、存储介质及车辆


    Contributors:

    Publication date :

    2024-06-28


    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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