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: determining candidate lanes on which a vehicle can execute lane changing operation under the condition that the vehicle has a lane changing demand; obtaining a plurality of candidate primitives corresponding to the self lane and the candidate lane in the future N continuous time windows; n continuous time windows in the future form a trajectory duration corresponding to one-time trajectory planning; determining a target candidate primitive according to the current state information and the candidate primitive; the current state information comprises the current lane of the vehicle, the position, the speed and the acceleration of the vehicle in the lane, and the position, the speed and the acceleration of the obstacle relative to the vehicle; the target candidate primitive is a corresponding candidate primitive when the vehicle executes lane changing operation; and lane changing trajectory planning is carried out based on the target candidate primitives. 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,确定车辆可执行换道操作的候选车道;分别获取自车道与候选车道在未来N个连续时间窗口内对应的多个候选基元;未来N个连续时间窗口形成一次轨迹规划对应的轨迹时长;根据当前状态信息与候选基元,确定目标候选基元;当前状态信息包括:车辆当前所在车道与在车道中的位置、速度、加速度,以及障碍物相对于车辆的位置、速度、加速度;目标候选基元是指车辆执行换道操作时对应的候选基元;基于目标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。
Lane changing track planning method and related device
换道轨迹规划方法及相关装置
2024-08-23
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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