Method, device and equipment for constructing lane change trajectory of simulated vehicle

Abstract

The application discloses a method, device and equipment for constructing a lane change trajectory of a simulated vehicle, and the method comprises the following steps of constructing a lane change trajectory coordinate system, and determining a target preceding vehicle based on a lane line, through which the center of mass of a target lane change vehicle crosses; determining target longitudinal driving data according to the longitudinal speed of the target lane change vehicle and the target preceding vehicle, and the distance between the target preceding vehicle and the target lane change vehicle during the lane change process; determining target lateral driving data based on the preset initial lateral driving data, preset ending lateral driving data and preset lane change time; constructing a first lane change track when the preset lane change conditions are met, or when the preset lane change conditions are not met, a following vehicle decelerates; updating the longitudinal drivingdata when the preset lane change conditions are not met and the following vehicle is not decelerated; constructing a second lane change trajectory; and when the preset lane changing conditions are notmet, updating the lateral driving data and longitudinal driving data during the process of switching back to the original lane, and constructing a first switching-back-to-the-original-lane trajectory.

Description

technical field [0001] The present application relates to the field of Internet communication technologies, and in particular to a method, device and equipment for constructing simulated vehicle lane-changing trajectories. Background technique [0002] The development of an autonomous driving system requires a process from simulation to real vehicle testing. As a zero-risk, fast iterative, reproducible test method, the simulation experiment based on the autonomous driving simulation system has laid a solid foundation for autonomous driving on the road. [0003] At present, in the lane-changing scene of the vehicle in the automatic driving simulation system, only the trajectory planning of the vehicle from one point in the lane to another point in the adjacent lane is considered within the specified time, that is, the time for the vehicle to change from the original lane to the target lane is considered. behavior was simulated. However, in the real world, when the road condi...

AI Technical Summary

Problems solved by technology

However, in the real world, when the road conditions are relatively congested or the driver's behavior is relatively aggressive, the process of changing lanes may not be completed at one time due to the interference of some factors, such as the vehicle behind the vehicle on the adjacent target lane. The vehicle may adopt impolite acceleration behavior, so that the safe distance of the vehicle in the lane cannot guarantee the smooth completion of the lane change behavior

Therefore, based on the existing vehicle lane-changing scenarios, the simulation results are difficult to reflect the real situation, and cannot provide effective auxiliary decision-making basis for actual automatic driving applications.

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