The invention relates to a trajectory planning unit and method for assisting lane change of an autonomous vehicle. The unit is configured to: obtain lane change information; determining an expected lane changing track based on the lane changing information, including generating a plurality of groups of lane changing tracks based on the lane changing path, each group of lane changing track representing a planned motion state when the autonomous vehicle runs following the lane changing path; calculating a plurality of costs based on each group of lane changing tracks, the actual motion state of the autonomous vehicle, the road environment and the actual motion state of the target vehicle; selecting one group of lane changing tracks from the plurality of groups of lane changing tracks as an expected lane changing track based on the plurality of costs; comparing an error between the actual motion state of the autonomous vehicle and the planned motion state on the expected lane changing track with a threshold value, and when the error exceeds the threshold value, obtaining the lane changing information again to re-determine the expected lane changing track until the error does not exceed the threshold value; and correcting the desired lane change trajectory based on the error to assist the autonomous vehicle in lane change based on the corrected desired lane change trajectory.
本申请涉及用于辅助自主车辆变道的轨迹规划单元和方法,所述单元配置成:获取变道信息;基于变道信息确定期望变道轨迹,包括基于变道路径生成多组变道轨迹,每组变道轨迹表征自主车辆在遵循变道路径行驶时的规划运动状态;基于每组变道轨迹、自主车辆的实际运动状态、道路环境、以及目标车辆的实际运动状态,计算多个代价;基于所述多个代价选择所述多组变道轨迹中的一组变道轨迹作为期望变道轨迹;比较自主车辆的实际运动状态与在期望变道轨迹上的规划运动状态之间的误差和阈值,当误差超过阈值时,重新获取变道信息以重新确定期望变道轨迹,直至误差不超过阈值;以及基于误差校正期望变道轨迹,以基于校正后的期望变道轨迹辅助自主车辆变道。
Track planning unit and method for assisting lane change of autonomous vehicle
用于辅助自主车辆变道的轨迹规划单元和方法
2024-07-16
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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