The embodiment of the invention discloses a vehicle lane changing speed planning method and device, and relates to the technical field of auxiliary driving, and the method comprises the steps: determining a plurality of motion sequence sets of a target vehicle in a current planning period according to the first motion state information of the target vehicle and the second motion state information of a target obstacle, the action sequence set comprises a plurality of state values of the target vehicle; according to the plurality of state values, respectively determining cost values respectively corresponding to the plurality of action sequence sets; and determining that the target action sequence set is a speed planning curve of the target vehicle in the current planning period, wherein the target action sequence set is the action sequence set with the minimum cost value in the multiple action sequence sets. The technical problem that the lane changing success rate is low due to the fact that the vehicle cannot flexibly plan the lane changing speed according to other traffic participants in the prior art is solved.
本发明实施例公开了一种车辆变道速度规划方法及装置,涉及辅助驾驶技术领域,其中,该方法包括根据目标车辆的第一运动状态信息以及目标障碍物的第二运动状态信息,确定目标车辆在当前规划周期内的多个动作序列集,其中,动作序列集包括目标车辆的多个状态值;根据多个状态值分别确定多个动作序列集分别对应的代价值;确定目标动作序列集为目标车辆在当前规划周期内的速度规划曲线,目标动作序列集为多个动作序列集中代价值最小的动作序列集。而解决了由于相关技术中车辆无法根据其他交通参与者灵活规划变道速度,变道成功率低的技术问题。
Vehicle lane changing speed planning method and device
车辆变道速度规划方法及装置
2024-09-06
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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