The embodiment of the invention discloses a planning method and device of a lane changing track, electronic equipment and a storage medium. The method is applied to automatic driving. Comprising the following steps: acquiring manual driving lane changing data corresponding to a fixed driving route, wherein the manual driving lane changing data comprises lane changing behavior data and a manual lane changing track; and determining a driving style according to the lane changing behavior data, wherein the driving style corresponds to lane changing time. And curve fitting is carried out on the manual lane changing track, and lane changing track characteristics are obtained through a curve fitting result. And obtaining target lane changing starting point information and target lane changing end point information, and determining a target lane changing speed according to the target lane changing starting point information, the target lane changing end point information and the lane changing time. And obtaining a planned lane changing track by utilizing a track planning model according to the target lane changing starting point information, the target lane changing terminal point information, the lane changing speed and the lane changing track characteristics. According to the embodiment of the invention, the lane changing track conforming to the driving style of the driver can be planned, and the anthropomorphism, comfort and safety of the automatic lane changing system are improved.

    本申请实施例公开了一种换道轨迹的规划方法、装置、电子设备及存储介质。应用于自动驾驶领域。包括:获取固定驾驶路线对应的人工驾驶换道数据,该人工驾驶换道数据包括换道行为数据和人工换道轨迹。根据换道行为数据确定驾驶风格,驾驶风格对应换道时间。对人工换道轨迹进行曲线拟合,并通过曲线拟合结果获取换道轨迹特征。获取目标换道起始点信息和目标换道终点信息,并根据目标换道起始点信息、目标换道终点信息和换道时间,确定目标换道速度。利用轨迹规划模型根据目标换道起始点信息、目标换道终点信息、换道速度和换道轨迹特征,得到规划换道轨迹。本申请实施例可以规划出符合驾驶员驾驶风格的换道轨迹,提高自动换道系统的拟人性、舒适度以及安全性。


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    Title :

    Lane changing track planning method and device, electronic equipment and storage medium


    Additional title:

    换道轨迹的规划方法、装置、电子设备及存储介质


    Contributors:
    LI QI (author)

    Publication date :

    2024-12-03


    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



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