The invention discloses a vehicle lane changing planning method and device and a vehicle, relates to the technical field of intelligent driving, and mainly aims to solve the problem of low accuracy of existing vehicle lane changing planning. The method comprises the steps that a reference track of a self-vehicle to be driven in a lane changing mode is obtained, at least one lane changing area in adjacent lanes is determined, and the lane changing area is used for representing the driving range of the self-vehicle expected to be changed into the adjacent lanes; on the basis of the reference trajectory and the lane changing area, under the condition that it is determined that the own vehicle is expected to collide with the other vehicle in the adjacent lane, collision information about the expected collision is obtained; and adjusting the reference trajectory according to the trajectory frame unit and the collision information to obtain at least one adjustment trajectory, and performing vehicle lane changing planning according to the adjustment trajectory. According to the method and the device, the planning of the next lane changing track can be inspired according to the current lane changing collision condition, the collision condition is greatly reduced, the lane changing safety of the vehicle is improved, and the accuracy of the lane changing planning of the vehicle is improved.

    本申请公开了一种车辆变道的规划方法及装置、车辆,涉及智能驾驶技术领域,主要目的在于解决现有车辆变道规划的准确性低的问题。该方法包括:获取自车车辆待变道行驶的参考轨迹,并确定相邻车道中的至少一个变道区域,变道区域用于表征自车车辆预期变更至相邻车道中的行驶范围;在基于参考轨迹、变道区域确定自车车辆与相邻车道中他车车辆预期发生碰撞的条件下,获取预期发生碰撞的碰撞信息;按照轨迹帧单位、碰撞信息对参考轨迹进行调整,得到至少一条调整轨迹,并根据调整轨迹进行车辆变道规划。本申请能够实现以当前变道碰撞情况启发下一变道轨迹的规划,大大减少发生碰撞的情况,提高了车辆变道的安全性,从而提高车辆变道规划的准确性。


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    Title :

    Vehicle lane changing planning method and device and vehicle


    Additional title:

    车辆变道的规划方法及装置、车辆


    Contributors:
    CHENG SHUAI (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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