The embodiment of the invention provides a vehicle lane changing track determination method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a longitudinal motion parameter of a target vehicle under a Frenet coordinate system and a transverse distance between a current position of the target vehicle and a lane center line of a target lane; determining the maximum transverse jerk of the target vehicle in the lane changing process according to the lane changing somatosensory parameters corresponding to the lane changing comfort; a three-section track splicing mode is adopted, and according to the transverse distance and the maximum transverse jerk, the function relation among the lane changing process duration, the lane changing transverse displacement and the lane changing comfort degree of the target vehicle in the lane changing process is established; and determining a vehicle lane changing track corresponding to the target vehicle according to the longitudinal motion parameters and the function relationship. According to the embodiment of the invention, efficient and comfortable intelligent lane changing can be realized.

    本申请实施例提供了一种车辆变道轨迹确定方法、装置、电子设备及存储介质。所述方法包括:获取目标车辆在Frenet坐标系下的纵向运动参数,及所述目标车辆的当前位置与目标车道的车道中心线的横向距离;根据变道舒适度对应的变道体感参数,确定所述目标车辆在变道过程中最大的横向加加速度;采用三段轨迹拼接方式,根据所述横向距离和所述最大的横向加加速度,建立所述目标车辆在变道过程中的变道过程时长、变道横向位移与变道舒适度之间的函数关系;根据所述纵向运动参数和所述函数关系,确定所述目标车辆对应的车辆变道轨迹。本申请实施例可以实现高效且舒适的智能变道。


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    Title :

    Vehicle lane changing track determination method and device, electronic equipment and storage medium


    Additional title:

    车辆变道轨迹确定方法、装置、电子设备及存储介质


    Contributors:
    WU JIAMING (author) / SHAN YI (author) / DU DALONG (author) / LIANG ZHIYUAN (author) / PAN YIFENG (author)

    Publication date :

    2024-09-17


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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