The invention provides a lane centering path planning method and device, equipment and a medium, and the method comprises the steps: obtaining the current vehicle speed of a vehicle and the road curvature of a current driving road of the vehicle, and calculating an effective lane length based on the current vehicle speed and the road curvature; then, sampling a plurality of division points in the effective lane length, and fitting a lane center line by using the position coordinate of each division point on the current driving road; and finally, performing path fitting based on the current position of the vehicle and the target end point on the lane center line to obtain a target planning path for controlling the vehicle to travel in the middle in the current driving road. According to the method and the device, the accuracy and the efficiency of automatic driving lane centering path planning are improved, and the safety of automatic driving is improved. Moreover, the planning method provided by the invention is high in calculation efficiency, is low in hardware requirement, and can meet the performance requirements of vehicle-mounted calculation.

    本申请提供了一种车道居中路径的规划方法、规划装置、设备及介质,所述方法包括:获取车辆的当前车速以及所述车辆的当前行驶道路的道路曲率,并基于所述当前车速以及所述道路曲率计算有效车道长度;然后,在所述有效车道长度中采样多个划分点,并利用每个划分点在所述当前行驶道路上的位置坐标拟合出车道中心线;最后,基于所述车辆的当前位置以及所述车道中心线上的目标终点进行路径拟合,得到控制所述车辆在所述当前行驶道路中进行居中行驶的目标规划路径。根据所述方法及装置,提高了自动驾驶车道居中路径规划的准确性和效率,增加了自动驾驶的安全性。并且本申请所提供的规划方法计算效率高,对硬件要求低,能够满足车载计算的性能需求。


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    Title :

    Planning method, planning device and equipment for lane centering path and medium


    Additional title:

    一种车道居中路径的规划方法、规划装置、设备及介质


    Contributors:
    HONG ZHIFU (author)

    Publication date :

    2024-10-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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