The invention relates to the technical field of vehicles, in particular to a lane changing path planning method and device, a vehicle and a computer program product, and the method comprises the steps: obtaining the current speed of the current vehicle, the longitudinal distance between the current vehicle and a target vehicle, and the drivable distance of the current vehicle in a ramp if the current vehicle is in a state before the ramp merges into a main road; sampling multiple groups of path planning curves of the current vehicle based on the current vehicle speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp and the speed constraint condition of the target vehicle; and calculating cost values of the multiple groups of path planning curves, taking the path planning curve with the minimum cost value as a target planning path curve, and controlling the current vehicle to overtake in the ramp and enter the main road or follow the vehicle and enter the main road according to the target planning path curve. Therefore, the path planning efficiency under the scene that the ramp converges into the main road is improved.

    本申请涉及车辆技术领域,特别涉及一种变道路径规划方法、装置、车辆及计算机程序产品,方法包括:若当前车辆处于匝道汇入主路前状态,则获取当前车辆的当前车速、当前车辆和目标车的纵向距离、当前车辆在匝道内的可行驶距离,基于当前车辆的当前车速、当前车辆和目标车的纵向距离、当前车辆在匝道内的可行驶距离和目标车的速度约束条件采样当前车辆的多组路径规划曲线;计算多组路径规划曲线的成本值,并将最小成本值的路径规划曲线作为目标规划路径曲线,根据目标规划路径曲线控制当前车辆在匝道内进行超车并入主路或跟车并入主路。由此,提高了匝道汇入主路场景下路径规划的效率。


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    Title :

    Lane changing path planning method and device, vehicle and computer program product


    Additional title:

    变道路径规划方法、装置、车辆及计算机程序产品


    Contributors:

    Publication date :

    2025-03-28


    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