The invention relates to an automatic driving vehicle lane changing track optimization method and device and a medium, and the method comprises the following steps: extracting lane changing segments, recognizing road parameters and vehicle parameters, and carrying out the classified statistics of kinematics parameter distribution according to the road parameters and the vehicle parameters; calibrating constraint conditions of a lane changing trajectory optimization model based on road environment and statistical kinematics parameter distribution, and constructing a target function of the lane changing trajectory optimization model based on lane changing risk and interaction strength; based on the constraint condition and the target function of the lane changing track optimization model, an optimization algorithm is used for solving to obtain an optimal lane changing track, the state of the vehicle at the next moment is updated according to the optimal lane changing track, the updated vehicle state is obtained, and a new round of track optimization solution is carried out until lane changing is finally completed. And carrying out comparative analysis on the new lane changing track and the original lane changing track. Compared with the prior art, the method has the advantages that interaction among vehicles is paid attention to, and the obtained track is low in driving risk.
本发明涉及一种自动驾驶车辆换道轨迹优化方法、装置和介质,方法包括以下步骤,提取换道片段,并识别道路参数和车辆参数,根据道路参数和车辆参数分类统计运动学参数分布;基于道路环境与统计的运动学参数分布标定换道轨迹优化模型约束条件,基于换道风险和交互强度构建换道轨迹优化模型的目标函数;基于换道轨迹优化模型的约束条件和目标函数,使用优化算法求解得到最优换道轨迹,根据最优换道轨迹更新车辆在下一时刻的状态,获取更新后的车辆状态进行新一轮的轨迹优化求解直至最终完成换道,并对新的换道轨迹与原始换道轨迹进行对比分析。与现有技术相比,本发明具有重视车辆间交互、所得轨迹驾驶风险低等优点。
Method and device for optimizing lane changing track of automatic driving vehicle and medium
一种自动驾驶车辆换道轨迹优化方法、装置和介质
2024-08-02
Patent
Electronic Resource
Chinese
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