The invention relates to a trajectory planning method, a storage medium and equipment in a lane changing process of an automatic driving vehicle. The invention relates to the trajectory planning method, the storage medium and the equipment in the lane changing process of the automatic driving vehicle. The objective of the invention is to solve the problems of low lane changing feasibility judgment accuracy and poor lane changing necessity judgment rule universality in the lane changing process of the existing automatic driving vehicle. The method comprises the following steps: deciding the longitudinal displacement of the automatic driving vehicle; a game rule of a game participant is established, an optimal decision of the automatic driving vehicle meeting constraint conditions is calculated according to a reverse induction method, and the transverse displacement of the automatic driving vehicle at the next moment is determined; determining a track sequence point of the automatic driving vehicle at the next moment; and setting total time of lane changing, obtaining total revenue of the automatic driving vehicle, selecting a lane corresponding to the maximum value of the total revenue as a target lane, and executing an optimal decision by the automatic driving vehicle every time to realize a final lane changing track of the automatic driving vehicle. The method is applied to the field of trajectory planning.
一种自动驾驶车辆换道过程中的轨迹规划方法、存储介质及设备,本发明涉及自动驾驶车辆换道过程中的轨迹规划方法、存储介质及设备。本发明的目的是为解决现有自动驾驶车辆换道过程中换道可行性判别准确率低、换道必要性判别规则普适性差的问题。过程为:进行自动驾驶车辆纵向位移量决策;建立博弈参与方的博弈规则,根据逆向归纳法,推算自动驾驶车辆满足约束条件的最优决策,确定自动驾驶车辆下一时刻的横向位移量;确定自动驾驶车辆下一时刻的轨迹序列点;设置换道总时长,获得自动驾驶车辆总收益,选取总收益最大值对应的车道为目标车道,每次自动驾驶车辆执行最优决策,实现自动驾驶车辆最终的换道轨迹。本发明用于轨迹规划领域。
Track planning method in lane changing process of automatic driving vehicle, storage medium and equipment
一种自动驾驶车辆换道过程中的轨迹规划方法、存储介质及设备
2024-12-06
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 |
Vehicle lane changing planning method, automatic driving vehicle and storage medium
European Patent Office | 2020
|Lane changing track planning method, device and equipment, storage medium and vehicle
European Patent Office | 2024
|European Patent Office | 2023
|European Patent Office | 2024
|Lane changing track generation method, device and equipment and automatic driving vehicle
European Patent Office | 2023
|