The embodiment of the invention discloses an automobile anthropomorphic lane changing trajectory planning method and device and electronic equipment. The method comprises the following steps: preprocessing a natural driving data set and real-time collected data, extracting target state information, determining a lane changing starting moment, transverse and longitudinal prediction offset and lane changing duration of a target vehicle through a neural network vehicle dynamics model, then establishing a polynomial lane changing trajectory planning model, and determining a lane changing trajectory of the target vehicle according to the polynomial lane changing trajectory planning model. And determining a lane changing track cluster based on the constructed constraint conditions of the lane changing starting point and the lane changing ending point, and finally, comparing with the lane changing style coefficient of the driver through a vehicle collision detection algorithm, and screening out a safe target lane changing track conforming to the lane changing style of the driver. The target lane changing track obtained by the lane changing track planning method not only pays attention to vehicle dynamics and road geometric constraints, but also makes a lane changing decision in consideration of driving habits and styles of drivers, so that the satisfaction degree of users is improved.
本说明书实施例公开了一种汽车拟人化换道轨迹规划方法、装置及电子设备。该方法包括通过对自然驾驶数据集和实时采集数据进行预处理,提取目标状态信息,并通过神经网络车辆动力学模型确定目标车辆的换道起始时刻、横纵向预测偏移和换道时长,接着建立多项式换道轨迹规划模型,基于构建的换道起点和终点的约束条件确定出换道轨迹簇,最后通过车辆碰撞检测算法和驾驶员的换道风格系数进行对比,筛选出一条安全且符合驾驶员换道风格的目标换道轨迹。通过以上换道轨迹规划方法得到的目标换道轨迹不仅关注了车辆动力学和道路几何约束,还同时兼顾驾驶员的驾驶习惯风格做出换道决策,提升了用户的满意度。
Automobile anthropomorphic lane changing trajectory planning method and device and electronic equipment
一种汽车拟人化换道轨迹规划方法、装置及电子设备
2025-01-03
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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