The invention discloses a vehicle lane changing track generation method and device, a vehicle and a storage medium, and relates to the technical field of automatic driving vehicle lane changing, and the method comprises the steps: obtaining the current lane changing speed, lane width and obstacle information when the vehicle automatically changes a lane; determining a target lane changing end point according to the current lane changing vehicle speed and the lane width; determining a target transverse position according to the obstacle information; and generating a lane changing track through the target lane changing end point and the target transverse position. Compared with an existing lane changing track which does not consider the problem that lane changing is too slow in the lane changing process or the vehicle is close to the front vehicle in the lane changing process, the method comprehensively considers the lane changing speed in the vehicle lane changing process and generates the target transverse position according to the obstacle information; therefore, the optimization target of the lane changing end point and the optimization target of the distance between the vehicle and the obstacle are increased, the optimal lane changing path of the vehicle is planned, and the safety in the automatic lane changing process is improved.
本申请公开了一种车辆变道轨迹生成方法、装置、车辆及存储介质,涉及自动驾驶车辆变道技术领域,包括:在车辆自动变道时,获取当前变道车速、车道宽度以及障碍物信息;根据所述当前变道车速和所述车道宽度确定目标变道结束点;根据所述障碍物信息确定目标横向位置;通过所述目标变道结束点和所述目标横向位置生成变道轨迹。相较于现有的变道轨迹未考虑变道过程中变道过缓或变道时贴近前方车辆的问题,本申请综合考虑了车辆变道过程中的变道速度以及根据障碍物信息生成目标横向位置,从而增加变道结束点的优化目标以及与障碍物之间的间距优化目标,规划出车辆的最优变道路径,提高自动变道过程中的安全性。
Vehicle lane changing track generation method and device, vehicle and storage medium
车辆变道轨迹生成方法、装置、车辆及存储介质
2025-01-28
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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