The invention discloses a path planning method and device, a vehicle and a readable storage medium, and the method comprises the steps: responding to a condition that the vehicle enters a lane changing stage, and determining a first preview distance according to the vehicle speed of the vehicle at a first time point; constructing a first lane changing guide path according to a path point between a starting point and an ending point of the first lane changing guide path in the first historical planning path; determining a first lane changing transition path at the first time point according to an end point of the first lane changing guide path and a first lane changing entry point determined in the target lane reference line; and splicing the first lane-changing guide path and the first lane-changing transition path to obtain a first lane-changing planned path for the vehicle to change the lane to the target lane at the first time point. According to the method, the automatic driving experience of the vehicle is improved.
本申请公开了一种路径规划方法、装置、车辆及可读存储介质,方法包括:响应于车辆进入变道阶段,根据车辆在第一时间点的车速确定第一预瞄距离;根据第一历史规划路径中位于第一变道引导路径的起点以及终点之间的路径点,构建第一变道引导路径;根据第一变道引导路径的终点以及在目标车道参考线中确定的第一变道进入点,确定在第一时间点下的第一变道过渡路径;拼接第一变道引导路径以及第一变道过渡路径,以得到在第一时间点下车辆变道至目标车道的第一变道规划路径。根据本申请的方法,提高了车辆的自动驾驶体验。
Path planning method and device, vehicle and storage medium
路径规划方法、装置、车辆及存储介质
2024-09-24
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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