Method for vehicle lane change planning, self-driving vehicle and storage medium
A vehicle and lane-changing technology, applied in the field of automatic driving, can solve problems such as insufficient lane-changing space and reduced efficiency of vehicle lane-changing, and achieve the effect of improving lane-changing efficiency
Active Publication Date: 2021-01-26
福瑞泰克智能系统有限公司
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[0005] The embodiment of the present application provides a method for vehicle lane change planning, an automatic driving vehicle, an electronic device, and a storage medium, so as to at least solve the problem in the related art that the efficiency of vehicle lane change is reduced due to insufficient space for vehicle lane change
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[0057] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ordinary skill in the art relevant to the content disclosed in this application, the technology disclosed in this application Some design, manufacturing or production changes based on the content are just conventional technical means, and...
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The present application relates to a method for vehicle lane change planning, an automatic driving vehicle and a storage medium, wherein the method for vehicle lane change planning includes: obtaining the current lane of the vehicle, the target lane, and the lane change space on the target lane, and according to the lane change The relative position between the neutral gear and the vehicle obtains the preset end point of the vehicle changing lanes; according to the current motion state of the vehicle, the final motion state of the vehicle at the preset end point, and the preset lane change time, the longitudinal motion required for the vehicle lane change is obtained parameters and lateral motion parameters; according to the longitudinal motion parameters, lateral motion parameters and preset lane change time, the predicted trajectory of the vehicle changing lanes is obtained. The present application solves the problem that the efficiency of vehicle lane change decreases when there is insufficient space for the vehicle to change lanes. By changing the longitudinal speed of the vehicle, the vehicle is actively approached to a neutral position for lane change, and the efficiency of vehicle lane change is improved.
Description
technical field [0001] The present application relates to the technical field of automatic driving, in particular to a method for vehicle lane change planning, an automatic driving vehicle and a storage medium. Background technique [0002] With the rapid development of autonomous driving technology, Advanced Driving Assistant System (ADAS) has become an indispensable part of autonomous vehicles. Adaptive Cruise Control (ACC) in ADAS Sub-functions are also maturing. In order to further improve the autonomy of ADAS and realize the autonomous driving of autonomous vehicles on the highway, the highway pilot system (HighWay Pilot, referred to as HWP) has also been proposed, and then the lane change control on the highway has become a problem that needs to be solved . [0003] In related technologies, path planning is performed based on preset constraints and the lane change trajectory is optimized through a cost function. However, this solution requires sufficient lane change ...
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IPC IPC(8): B60W30/18B60W30/095
CPCB60W30/095B60W30/18163B60W2520/10B60W2520/12
Inventor 吴鹏朱科引邹欣陈永春黄魏曹润滋童淑霞
Owner 福瑞泰克智能系统有限公司