Method, device and equipment for planning lane changing path of vehicle and readable storage medium

A road and vehicle technology, applied in the field of assisted driving, can solve problems such as the inability to guarantee the driving habit of changing lanes and insufficient consideration of curved roads.

Active Publication Date: 2020-06-05
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method is suitable for straight lanes, and it does not take enough consideration of curved roads, so it cannot guarantee that the generated lane change path conforms to driving habits

Method used

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  • Method, device and equipment for planning lane changing path of vehicle and readable storage medium
  • Method, device and equipment for planning lane changing path of vehicle and readable storage medium
  • Method, device and equipment for planning lane changing path of vehicle and readable storage medium

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Embodiment Construction

[0077] Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0078] Assisted driving technology is one of the application scenarios of artificial intelligence. Based on the assisted driving technology, the vehicle can be controlled to drive automatically, such as automatic speed up, deceleration, and braking.

[0079] Controlling the vehicle to change lanes is an important part of assisted driving applications. In many cases, ...

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PUM

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Abstract

The invention provides a method, device and equipment for planning a lane changing path of a vehicle and a readable storage medium, which can be used for intelligent driving and comprise the followingsteps: acquiring a current first motion state of the vehicle and lane center line information of a lane where the vehicle is located; mapping the first motion state from a vehicle coordinate system of the vehicle to a reference coordinate system taking a lane center line as a reference line to obtain a second motion state; determining a reference lane changing path in a reference coordinate system according to the second motion state; and mapping the reference lane changing path into a vehicle coordinate system to obtain a target lane changing path. According to the method, the device, the equipment and the readable storage medium provided by the embodiment of the invention, the reference lane changing path is determined in the reference coordinate system, so that the reference lane changing path is more convenient to solve. And the reference coordinate system is constructed based on the center line of the lane where the vehicle is located, and the curve situation is naturally considered, so that the planned lane changing path conforms to the change trend of the curved road and more conforms to the driving habit of human beings.

Description

technical field [0001] This application relates to artificial intelligence technology, especially to assisted driving technology. Background technique [0002] At present, assisted driving technology has become increasingly mature. Many vehicles are equipped with assisted driving technology, so that the vehicle can be controlled to drive automatically based on this technology. [0003] During the driving process of the vehicle, it is a common driving mode for the vehicle to change lanes. For vehicles with assisted driving technology, when it is necessary to control the vehicle to change lanes, the vehicle's lane change path can be planned based on a preset path planning method. The assisted driving here can be semi-automatic driving with driver participation, or fully automatic driving without driver participation, or intelligent driving. [0004] In the path planning method in the prior art, a curve is obtained by fitting according to the starting position of the lane ch...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/09B60W30/18B60W40/06
CPCB60W30/09B60W30/18163B60W40/06
Inventor 付骁鑫朱振广陈至元马霖李旭健
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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