The invention provides a lane changing trajectory planning method and a related device, and relates to the technical field of intelligent driving. The lane changing track planning method can comprise the following steps: under the condition that a vehicle has a lane changing demand, determining candidate lanes on which the vehicle can execute lane changing operation; obtaining a plurality of candidate primitives corresponding to the self lane and the candidate lane in the future N continuous time windows; determining a communication relationship between the candidate primitives in adjacent time windows according to a longitudinal position range included by the candidate primitives; and according to the candidate primitives with the communication relation, lane changing trajectory planning is carried out. According to the technical scheme, the problem that in the prior art, the lane changing mode of an intelligent driving vehicle is low in safety can be solved.

    本申请提出一种换道轨迹规划方法及相关装置,涉及智能驾驶技术领域。该换道轨迹规划方法可以包括:在车辆具有换道需求的情况下,确定所述车辆可执行换道操作的候选车道;获取自车道与所述候选车道在未来N个连续时间窗口内对应的多个候选基元;根据所述候选基元包括的纵向位置范围,确定相邻时间窗口内的候选基元之间的连通关系;根据具有连通关系的候选基元,进行换道轨迹规划。本申请提供的技术方案能够解决现有技术中智能驾驶车辆的换道方式存在安全性低的问题。


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    Title :

    Lane changing track planning method and related device


    Additional title:

    换道轨迹规划方法及相关装置


    Contributors:
    XIONG FANGZHOU (author) / ZHANG CHI (author) / JIA YANBO (author)

    Publication date :

    2024-07-05


    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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