The invention discloses a Bezier curve-based emergency lane keeping trajectory planning method, device and equipment and a storage medium, and relates to the technical field of vehicle intelligent driving, and the Bezier curve-based emergency lane keeping trajectory planning method comprises the steps of obtaining road edge scenes, classifying the road edge scenes, and determining the road edge scenes according to the classified road edge scenes; obtaining a classification result; determining a target lateral deviation between a starting point and an ending point of trajectory planning according to the classification result; a starting point parameter and an end point parameter of the trajectory planning are obtained, the starting point parameter at least comprises a starting point transverse acceleration, and the end point parameter at least comprises an end point transverse acceleration; and taking the target transverse deviation, the starting point parameter and the end point parameter as parameters of a Bezier curve to carry out track planning of emergency lane keeping to obtain a target planning track. According to the invention, the stability of the trajectory planning result of emergency lane keeping can be improved.

    本申请公开了一种基于贝塞尔曲线的紧急车道保持的轨迹规划方法、装置、设备以及存储介质,涉及车辆智能驾驶技术领域,所述基于贝塞尔曲线的紧急车道保持的轨迹规划方法包括:获取道路边沿场景,并对所述道路边沿场景进行分类,得到分类结果;根据所述分类结果确定轨迹规划的起点与终点的目标横向偏差;获取所述轨迹规划的起点参数与终点参数,所述起点参数至少包括起点横向加速度,所述终点参数至少包括终点横向加速度;将所述目标横向偏差、所述起点参数以及所述终点参数作为贝塞尔曲线的参数进行紧急车道保持的轨迹规划,得到目标规划轨迹。本申请能提高紧急车道保持的轨迹规划结果的稳定性。


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    Title :

    Trajectory planning method, device and equipment for emergency lane keeping based on Bezier curve and storage medium


    Additional title:

    基于贝塞尔曲线的紧急车道保持的轨迹规划方法、装置、设备以及存储介质


    Contributors:
    CEN SHENG (author) / TU NINGNING (author) / LI GUANGYU (author) / HOU MINGYANG (author)

    Publication date :

    2025-03-25


    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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