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A driving trajectory planning method, device, vehicle, controller, and computer-readable storage medium

A driving trajectory and trajectory technology, applied in the field of automobile intelligence, can solve problems such as danger and inability to laterally control, and achieve the effect of improving the applicability of following cars

Active Publication Date: 2022-03-11
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The system generally has the following problems. If there is no target in front of the lane, lateral control cannot be assisted by the target information of the side lane;

Method used

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  • A driving trajectory planning method, device, vehicle, controller, and computer-readable storage medium
  • A driving trajectory planning method, device, vehicle, controller, and computer-readable storage medium
  • A driving trajectory planning method, device, vehicle, controller, and computer-readable storage medium

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with accompanying drawing:

[0050] The present invention provides a driving trajectory planning method. In order to realize the method, a sensing device mounted on the vehicle is required. The sensing device includes a forward-looking camera and a forward-facing long-distance millimeter-wave radar. The forward-looking camera can monitor the road surface in front of the vehicle The image is collected, and the forward long-distance millimeter-wave radar can effectively detect the center position and speed of the front target vehicle within its sensing range. The sensing device is mounted on the figure 2 On the vehicle 1 in the vehicle, it can detect in real time figure 2 The relevant information of the medium front target vehicles 2, 3 and 4 can also detect information such as lane lines in front of the vehicle. By performing image recognition on the image information collected by the front-view camer...

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Abstract

The solution relates to a driving trajectory planning method, device, vehicle, controller, and computer-readable storage medium, capable of planning vehicle driving trajectory for scenarios where lane lines are lost. The method includes: when the lane line in front of the lane where the vehicle is located is lost, respectively performing historical driving trajectory fitting on all sensing vehicles identified by the sensing device; according to the historical driving trajectory of each sensing vehicle, determining that no lane change The target vehicle; according to the historical driving trajectory of each target vehicle, the driving trajectory planning of the vehicle is carried out.

Description

technical field [0001] The invention belongs to the field of automobile intelligence, and in particular relates to a driving trajectory planning method, device, automobile, controller and computer-readable storage medium. Background technique [0002] Autonomous driving technology is developing rapidly. At present, mainstream mass-produced L2 driving assistance systems are generally equipped with forward-looking cameras and forward-facing long-range millimeter-wave radars, which can realize lane-centered driving on structured roads. The current mainstream solution is to use the camera to detect lane line information to achieve centered driving. After the lane line is lost, the front target of the lane will be used as the following target for horizontal and vertical control. The system generally has the following problems. If there is no target in front of the lane, lateral control cannot be assisted by target information in the side lane; if the target in front of the lane c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W60/00B60W30/14
CPCB60W60/001B60W30/14
Inventor 贺勇闫新庆孔周维丁可
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD