Method, device, vehicle and storage medium for determining lane change control points

Abstract

The present application relates to a method, apparatus, vehicle, and storage medium for determining a lane change control point, including: obtaining a first center line of the current lane where the vehicle is located, a second center line of the target lane, the position of the rear axle center, the current vehicle speed, and obstacle information; determining a first lane change control point of the vehicle according to the position of the rear axle center, and determining a second lane change point of the vehicle based on a first preset time interval and the first lane change control point, where the second lane change point is located on the first center line of the current vehicle; and determining a third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information, and a preset collision safety constraint condition, and determining a fourth lane change control point of the vehicle according to the third lane change control point and a second preset time interval. Thus, by comprehensively considering the lateral path information of lane change safety and comfort, not only is the calculation efficiency high, but also the applicability is strong.

Description

Technical Field

[0001] The present application relates to the technical field of autonomous driving, and particularly relates to a method, device, vehicle and storage medium for determining a lane change control point. Background Art

[0002] With the development of artificial intelligence technology and multi-sensor fusion technology, autonomous driving technology has developed rapidly and has also become the main focus of technology competition among major vehicle manufacturers and suppliers. The automatic lane change function is the core function of autonomous driving vehicles at level L2 and above, and curve fitting is a commonly used automatic lane change planning algorithm.

[0003] In the related art, a method of finding the control points of a Bezier curve according to an optimization function is used to obtain a Bezier curve function for automatic lane change.

[0004] However, the performance indicators represented by the optimization function used in the related art have multiple dimensions, resulting in high requirements for performance indicators, a small range covering lane change requirements, low flexibility of the 3rd-order Bezier curve used, and poor applicability to working conditions. Summary of the Invention

[0005] The present application provides a method, device, vehicle and storage medium for determining a lane change control point to solve the problems of large computational amount, difficult application and high performance indicator requirements in the lateral planning method in the related art, with high computational efficiency and strong applicability, and can adjust the lane change style according to the driver's expectation.

[0006] The first aspect embodiment of the present application provides a method for determining a lane change control point, including the following steps: obtaining the first center line of the lane where the vehicle is currently located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed and obstacle information of the vehicle; determining a first lane change control point of the vehicle according to the position of the rear axle center, and determining a second lane change point of the vehicle based on a first preset time interval and the first lane change control point, where the second lane change point is located on the first center line of the vehicle; and determining a third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information and a preset collision safety constraint condition, and determining a fourth lane change control point of the vehicle according to the third lane change control point and a second preset time interval, where the third lane change control point and the fourth lane change control point are located on the second center line of the target lane.

[0007] According to the above technical means, the embodiments of the present application can solve the problems of large computational amount, difficult application, and high performance index requirements in the related art for the lateral planning method, with high computational efficiency and strong applicability, and can adjust the lane-changing style according to the driver's expectations. Optionally, in some embodiments, determining the third lane-changing control point of the vehicle according to the second lane-changing control point, the current vehicle speed, the obstacle information, and the preset collision safety constraint conditions includes: calculating the maximum curvature of the planned trajectory according to the current vehicle speed and the preset maximum curvature formula of the path; obtaining a plurality of initial third lane-changing control points according to the longitudinal distance of the second lane-changing control point and the maximum curvature of the planned trajectory; based on the preset collision safety constraint conditions, screening out the optimal lane-changing control point from the plurality of initial third lane-changing control points, and using the optimal lane-changing control point as the third lane-changing control point.

[0008] According to the above technical means, the embodiments of the present application can determine whether the vehicle's lane change is successful based on the vehicle speed and lateral error, form a closed loop for the vehicle's lateral lane change, and better perform path planning.

[0009] Optionally, in some embodiments, the preset collision safety constraint conditions include the collision safety constraint conditions of the current lane and the collision safety constraint conditions of the target lane. Based on the preset collision safety constraint conditions, screening out the optimal lane-changing control point from the plurality of initial third lane-changing control points includes: screening out a plurality of safe lane-changing control points that meet the collision safety constraint conditions of the current lane from the plurality of initial third lane-changing control points; based on the collision safety constraint conditions of the target lane, traversing the plurality of safe lane-changing control points, and using the first safe lane-changing control point that meets the collision safety constraint conditions of the target lane as the optimal lane-changing control point. According to the above technical means, the embodiments of the present application can obtain the optimal lane-changing control point based on collision safety constraints and conditions such as vehicle speed.

[0010] According to the above technical means, the embodiments of the present application can obtain the optimal lane-changing control point that satisfies both the target safe lane-changing conditions of the current lane and the safe lane-changing conditions of the target lane.

[0011] Optionally, in some embodiments, the preset collision safety constraint conditions are:

[0012]

[0013]

[0014] where L obj is the longitudinal distance of the obstacle, v obj is the speed of the obstacle, c ego is the vehicle speed of the host vehicle, delta safe is the safety threshold, L1 The distance from P 1 to P 0 is L 2 The distance from P 2 to P 1 is θ 1 L 1 and L 2 The included angle

[0015] According to the above technical means, the embodiments of the present application can comprehensively consider the kinematic constraints of the vehicle on the planned path and the safety of the path, which has more engineering application prospects.

[0016] Optionally, in some embodiments, the method for determining the lane-changing control points further includes: calculating the lateral lane-changing distance of the vehicle according to the first center line and the second center line; obtaining a lateral planning curve equation according to the lane-changing planning time obtained from the lateral lane-changing distance, the first lane-changing control point, the second lane-changing control point, the third lane-changing control point, and the fourth lane-changing control point, and calculating the expected lateral distance, expected lateral speed, expected lateral acceleration, and expected lateral jerk at the target time according to the lateral planning curve equation; calculating the parameters of the initial lane-changing trajectory cubic curve equation at the target time according to the expected lateral distance, the expected lateral speed, the expected lateral acceleration, the expected lateral jerk, and the current vehicle speed, and obtaining the parameters of the final lane-changing trajectory cubic curve equation according to the parameters of the initial lane-changing trajectory cubic curve equation and the parameters of the cubic curve equation of the current lane, and generating a lateral planning path for the vehicle according to the parameters of the final lane-changing trajectory cubic curve equation, and performing lateral control on the vehicle according to the lateral planning path.

[0017] According to the above technical means, the present application can solve the problems of large computational amount, difficult application, and high performance index requirements in the related art of lateral planning methods, has high computational efficiency and strong applicability, and can adjust the lane-changing style according to the driver's expectations.

[0018] Optionally, in some embodiments, after performing lateral control on the vehicle according to the lateral planning path, it further includes: collecting the current lateral speed and current position of the vehicle; if the current lateral speed is less than a preset speed value and the duration reaches a first preset duration, and the lateral error between the current position and the target position is less than a preset error and the duration reaches a second preset duration, it is determined that the vehicle has completed the lane-changing action.

[0019] According to the above technical means, the present application determines whether the automatic lane change is completed by judging the duration.

[0020] Optionally, in some embodiments, the lateral planning curve equation is:

[0021]

[0022] where y is the lateral distance, where T is the time parameter for the lateral planning of the automatic lane change, and t is the time elapsed during the current automatic lane change, is the first lane change control point, is the second lane change control point, is the third lane change control point, is the fourth lane change control point.

[0023] According to the above technical means, the embodiments of the present application adopt a cubic B-spline curve, which has higher flexibility and better applicability to working conditions.

[0024] Optionally, in some embodiments, for the method of determining the lane change control points described above, the expected lateral distance at the target moment is: s t = y(u); the expected lateral speed at the target moment is: The expected lateral acceleration at the target moment is: The expected lateral jerk at the target moment is:

[0025] According to the above technical means, the embodiments of the present application can calculate the expected distance, speed, acceleration, and jerk to provide parameter support for the final cubic curve equation.

[0026] Optionally, in some embodiments, before obtaining the first center line of the current lane of the vehicle, the second center line of the target lane, the current vehicle speed, and the obstacle information, it further includes: determining whether the vehicle has received an automatic lane change instruction; if the automatic lane change instruction is received, controlling the vehicle to enter the lane change mode, otherwise, controlling the vehicle to maintain the current mode.

[0027] According to the above technical means, the embodiments of the present application can adjust the lane change style according to the driver's expectation.

[0028] Optionally, in some embodiments, the parameters of the final lane change trajectory cubic curve equation are:

[0029] [C0,C1,C2,C3] = [C0 lc + C0 c ,C1 lc + C1 c ,C2 lc + C2 c ,C3 lc + C3 c ;

[0030] Among them, C0, C1, C2, and C3 are all parameters of the cubic curve equation of the final lane-changing trajectory, and C0 lc , C1 lc , C2 lc , C3 lc are all parameters of the cubic curve equation of the initial lane-changing trajectory, and C0 c , C1 c , C2 c , C3 c are all parameters of the cubic curve equation of the currently occupied lane.

[0031] According to the above technical means, the embodiments of the present application can provide a lateral path lane-changing method with higher calculation efficiency and stronger applicability under this calculation method.

[0032] The second aspect of the embodiments of the present application provides a device for determining lane-changing control points, including: an acquisition module for acquiring the first center line of the currently occupied lane of the vehicle, the second center line of the target lane, the position of the rear axle center, the current vehicle speed, and obstacle information; a first determination module for determining the first lane-changing control point of the vehicle according to the position of the rear axle center, and determining the second lane-changing point of the vehicle based on a first preset time interval and the first lane-changing control point, where the second lane-changing point is located on the first center line of the currently occupied lane of the vehicle; and a second determination module for determining the third lane-changing control point of the vehicle according to the second lane-changing control point, the current vehicle speed, the obstacle information, and a preset collision safety constraint condition, and determining the fourth lane-changing control point of the vehicle according to the third lane-changing control point and a second preset time interval, where the third lane-changing control point and the fourth lane-changing control point are located on the second center line of the target lane.

[0033] Optionally, in some embodiments, the second determination module is further configured to: calculate the maximum curvature of the planned trajectory according to the current vehicle speed and a preset path maximum curvature formula; obtain a plurality of initial third lane-changing control points according to the longitudinal distance of the second lane-changing control point and the maximum curvature of the planned trajectory; screen out the optimal lane-changing control point from the plurality of initial third lane-changing control points based on the preset collision safety constraint condition, and use the optimal lane-changing control point as the third lane-changing control point.

[0034] Optionally, in some embodiments, the preset collision safety constraint conditions include the collision safety constraint conditions of the current lane and the collision safety constraint conditions of the target lane. Based on the preset collision safety constraint conditions, the optimal lane-changing control point is selected from the multiple initial third lane-changing control points. The second determination module is further configured to: select multiple safe lane-changing control points that meet the collision safety constraint conditions of the current lane from the multiple initial third lane-changing control points; based on the collision safety constraint conditions of the target lane, traverse the multiple safe lane-changing control points, and use the first safe lane-changing control point that meets the collision safety constraint conditions of the target lane as the optimal lane-changing control point.

[0035] Optionally, in some embodiments, the preset collision safety constraint conditions are:

[0036]

[0037]

[0038] where L obj is the longitudinal distance of the obstacle, v obj is the speed of the obstacle, v ego is the speed of the host vehicle, delta safe is the safety threshold, L 1 is P 1 to P 0 distance, L 2 is P 2 to P 1 distance, θ 1 is L 1 and L 2 included angle.

[0039] Optionally, in some embodiments, the device for determining the lane-changing control points further includes: a first calculation module, configured to calculate the lateral lane-changing distance of the vehicle according to the first center line and the second center line; a second calculation module, configured to obtain a lateral planning curve equation according to the lane-changing planning time obtained from the lateral lane-changing distance, the first lane-changing control point, the second lane-changing control point, the third lane-changing control point, and the fourth lane-changing control point, and calculate the expected lateral distance, expected lateral speed, expected lateral acceleration, and expected lateral jerk at the target moment according to the lateral planning curve equation; a control module, configured to calculate the initial lane-changing trajectory cubic curve equation parameters at the target moment according to the expected lateral distance, the expected lateral speed, the expected lateral acceleration, the expected lateral jerk, and the current vehicle speed, obtain the final lane-changing trajectory cubic curve equation parameters according to the initial lane-changing trajectory cubic curve equation parameters and the cubic curve equation parameters of the current lane, generate the lateral planning path of the vehicle according to the final lane-changing trajectory cubic curve equation parameters, and perform lateral control on the vehicle according to the lateral planning path.

[0040] Optionally, in some embodiments, after performing lateral control on the vehicle according to the lateral planning path, the control module further includes: collecting the current lateral speed and current position of the vehicle; if the current lateral speed is less than a preset speed value and the duration reaches a first preset duration, and the lateral error between the current position and the target position is less than a preset error and the duration reaches a second preset duration, it is determined that the vehicle has completed the lane-changing action.

[0041] Optionally, in some embodiments, the lateral planning curve equation is:

[0042]

[0043] where y is the lateral distance, where T is the time parameter for automatic lane-changing lateral planning, t is the time elapsed during the current automatic lane-changing, is the first lane-changing control point, is the second lane-changing control point, is the third lane-changing control point, is the fourth lane-changing control point.

[0044] Optionally, in some embodiments, the expected lateral distance at the target moment is: s t = y(u); the expected lateral speed at the target moment is: The expected lateral acceleration at the target moment is: The expected lateral jerk at the target moment is:

[0045] Optionally, in some embodiments, before obtaining the first center line of the current lane where the vehicle is located, the second center line of the target lane, the current vehicle speed, and obstacle information, the obtaining module is further configured to: determine whether the vehicle has received an automatic lane change instruction; if the automatic lane change instruction is received, control the vehicle to enter the lane change mode, otherwise, control the vehicle to maintain the current mode.

[0046] Optionally, in some embodiments, the parameters of the cubic curve equation of the final lane change trajectory are:

[0047] [C0, C1, C2, C3] = [C0 lc + C0 c , C1 lc + C1 c , C2 lc + C2 c , C3 lc + C3 c ;

[0048] wherein, C0, C1, C2, and C3 are all parameters of the cubic curve equation of the final lane change trajectory, C0 lc , C1 lc , C2 lc , C3 lc are all parameters of the cubic curve equation of the initial lane change trajectory, and C0 c , C1 c , C2 c , C3 c are all parameters of the cubic curve equation of the current lane where the vehicle is located.

[0049] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the method for determining the lane change control point as described in the above embodiments.

[0050] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the method for determining the lane change control point as described in the above embodiments.

[0051] Accordingly, by obtaining the first center line of the lane where the vehicle is currently located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed, and obstacle information of the vehicle, and determining the first lane-changing control point of the vehicle based on the position of the rear axle center, and determining the second lane-changing point of the vehicle based on the first preset time interval and the first lane-changing control point, where the second lane-changing point is located on the first center line of the current vehicle, and determining the third lane-changing control point of the vehicle based on the second lane-changing control point, the current vehicle speed, the obstacle information, and a preset collision safety constraint condition, and determining the fourth lane-changing control point of the vehicle based on the third lane-changing control point and the second preset time interval. Accordingly, the problems of large computational amount, difficult application, and high performance index requirements in the related art of the lateral planning method are solved. The lateral path information that comprehensively considers lane-changing safety and comfort not only has high computational efficiency and strong applicability, but also can adjust the lane-changing style according to the driver's expectation.

[0052] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0053] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, in which:

[0054] Figure 1 is a flowchart of a method for determining a lane-changing control point according to an embodiment of the present application;

[0055] Figure 2 is a schematic diagram of a control point and a B-spline curve according to an embodiment of the present application;

[0056] Figure 3 is a schematic diagram of obstacle avoidance of a control point and a B-spline curve according to an embodiment of the present application;

[0057] Figure 4 is a flowchart of a method for determining a control point according to an embodiment of the present application;

[0058] Figure 5 is a flowchart of a method for determining a lane-changing control point according to an embodiment of the present application;

[0059] Figure 6 is a block schematic diagram of a device for determining a lane-changing control point according to an embodiment of the present application;

[0060] Figure 7 is a schematic diagram of an electronic device according to an embodiment of the present application.

[0061] Wherein, 10 - device for determining a lane-changing control point, 100 - acquisition module, 200 - first determination module, and 300 - second determination module. Detailed implementation manners

[0062] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0063] The method, device, vehicle and storage medium for determining a lane change control point according to an embodiment of the present application will be described below with reference to the accompanying drawings. In view of the problems of large computational amount, difficult application and high performance index requirements in the related art of the lateral planning method mentioned in the above background art, the present application provides a method for determining a lane change control point. In this method,

[0064] obtain the first center line of the current lane where the vehicle is located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed and obstacle information of the vehicle; determine the first lane change control point of the vehicle according to the position of the rear axle center, and determine the second lane change point of the vehicle based on the first preset time interval and the first lane change control point, where the second lane change point is located on the first center line of the current vehicle; and determine the third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information and the preset collision safety constraint condition, and determine the fourth lane change control point of the vehicle according to the third lane change control point and the second preset time interval. Thus, the problems of large computational amount, difficult application and high performance index requirements in the related art of the lateral planning method are solved, and the lateral path information considering both lane change safety and comfort is provided. It not only has high computational efficiency and strong applicability, but also can adjust the lane change style according to the driver's expectation.

[0065] Specifically, Figure 1 is a schematic flowchart of a method for determining a lane change control point provided by an embodiment of the present application.

[0066] As Figure 1 shown, the method for determining the lane change control point includes the following steps:

[0067] In step S101, obtain the first center line of the current lane where the vehicle is located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed and obstacle information of the vehicle.

[0068] Optionally, in some embodiments, before obtaining the first center line of the current lane where the vehicle is located, the second center line of the target lane, the current vehicle speed and obstacle information, it further includes: determining whether the vehicle receives an automatic lane change instruction; if receiving the automatic lane change instruction, controlling the vehicle to enter the lane change mode, otherwise, controlling the vehicle to maintain the current mode.

[0069] Among them, the first center line of the current lane, the second center line of the target lane, the current vehicle speed, and the obstacle information can be obtained in real time through the perception system or the high-precision map.

[0070] Specifically, receive the automatic lane change instruction from the decision-making system. If the decision-making system instructs to start lane change, obtain the vehicle-related information. Otherwise, control the vehicle to maintain the current mode, and obtain the real-time output information of the perception system, including the first center line of the current lane, the second center line of the target lane, the current vehicle speed, and the obstacle information. Among them, the first center line information of the current lane is represented by cubic curve fitting to obtain y c = C0 c + C1 c ·x + C2 c ·x 2 + C3 c ·x 3 , where y C is the lateral distance, and x is the longitudinal distance; or represent the CenterLineMat with discrete dot matrices. It should be noted that this cubic curve can be automatically generated from the relevant data collected by the vehicle's perception system (such as a camera). The specific generation strategy is the same as that in the related technology. To avoid redundancy, it will not be elaborated in detail here.

[0071] including the horizontal and vertical coordinates of the center point of the lane; the second center line of the target lane, represented by cubic curve fitting, to obtain y t = C0 t + C1 t ·x + C2 t ·x 2 + C3 t ·x 3 , where y t is the lateral distance, and x is the longitudinal distance; or represent the TargetLineMat with discrete dot matrices, including the horizontal and vertical coordinates of the center point of the target lane; the current vehicle speed and the obstacle information.

[0072] In step S102, determine the first lane change control point of the vehicle according to the position of the rear axle center, and determine the second lane change point of the vehicle based on the first preset time interval and the first lane change control point, where the second lane change point is located on the first center line of the current vehicle.

[0073] Specifically, in the embodiment of the present application, first calculate the B-spline curve parameters. At the start time of automatic lane change, select two points P (0) , P (1), as the starting control point for B-spline curve planning, calculates the kinematic constraint information for the lateral planning trajectory of automatic lane change based on the relative lateral distance TargetLat between the target lane centerline and the vehicle's own lane centerline, the calibrated quantity rate of the speed of the lane change process, and the vehicle speed.

[0074] In step S103, the third lane change control point of the vehicle is determined according to the second lane change control point, the current vehicle speed, the obstacle information, and the preset collision safety constraint conditions, and the fourth lane change control point of the vehicle is determined according to the third lane change control point and the second preset time interval, wherein the third lane change control point and the fourth lane change control point are located on the second centerline of the target lane.

[0075] Optionally, in some embodiments, determining the third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information, and the preset collision safety constraint conditions includes: calculating the maximum curvature of the planned trajectory according to the current vehicle speed and the preset path maximum curvature formula; obtaining a plurality of initial third lane change control points according to the longitudinal distance of the second lane change control point and the maximum curvature of the planned trajectory; screening out the optimal lane change control point from the plurality of initial third lane change control points based on the preset collision safety constraint conditions, and using the optimal lane change control point as the third lane change control point.

[0076] Optionally, in some embodiments, the preset collision safety constraint conditions include the collision safety constraint conditions of the current lane and the collision safety constraint conditions of the target lane. Based on the preset collision safety constraint conditions, screening out the optimal lane change control point from the plurality of initial third lane change control points includes: screening out a plurality of safe lane change control points that meet the collision safety constraint conditions of the current lane from the plurality of initial third lane change control points; traversing the plurality of safe lane change control points based on the collision safety constraint conditions of the target lane, and using the first safe lane change control point that meets the collision safety constraint conditions of the target lane as the optimal lane change control point. According to the above technical means, the embodiments of the present application can obtain the optimal lane change control point based on conditions such as collision safety constraints and vehicle speed.

[0077] It should be noted that the subsequent embodiments of the present application comprehensively consider the collision safety constraints between the vehicle and surrounding targets, and solve to obtain two other control points P (2) , P (3) .

[0078] Specifically, in the embodiments of the present application, the control rules of the first lane change control point, the second lane change control point, and the third lane change control point of the vehicle are as Figure 2 shown. The first lane change control point point is the position where the center of the rear axle of the vehicle is located; the second lane change control point point is located on the centerline of the current lane and is connected to The point distance is between the distance at 1.5s and the distance at 2s, and the distance is generally not less than 10m. Therefore, The point can be calibrated by the speed of lane change in different lane change modes. The faster the lane change, the point and the shorter the time distance between points; The third lane change control point is located on the center line of the target lane and is restricted by vehicle kinematic constraints and collision safety constraints.

[0079] Among them, the preset maximum curvature formula of the path is:

[0080]

[0081] Specifically, by calibrating the comfortable lateral acceleration limit at different vehicle speeds in the program, and based on the vehicle kinematic formula, calculate and determine the maximum curvature of the planned trajectory:

[0082] a y = v 2 *Curve;

[0083] Starting from the longitudinal distance of the point obtained in step S101, traverse the longitudinal distance of the point on the center line of the target lane, and calculate and obtain the maximum curvature from L 1 to L 2 section according to the above formula, and traverse to the point that meets the requirements of comfortable kinematic constraints.

[0084] On this basis, consider the obstacle avoidance requirements during the lane change process, and finally determine the location of the point. The method of considering the obstacle avoidance requirements during the lane change is as follows:

[0085] To meet collision safety, it is necessary to perform a safety check on the point position that meets the requirements of comfortable kinematic constraints. As Figure 3 shown, for the target in the current lane, the verification formula is:

[0086]

[0087] For the target in the target lane, the verification formula is:

[0088]

[0089] Among them, where, L obj is the longitudinal distance of the obstacle, v obj is the speed of the obstacle, v ego is the speed of the host vehicle, delta safe is the safety threshold, generally calibrated according to the relative vehicle speed, and the minimum distance is about 5m, L1 The distance from P 1 to P 0 is L 2 The distance from P 2 to P 1 is θ 1 L 1 and L 2 The included angle, abs is the absolute value symbol.

[0090] If the point meets all safety conditions, then the position of the point is determined; if the target safe lane change condition of the current lane is not met and the target safe lane change condition of the target lane is met, then the maximum lateral acceleration is amplified, and the maximum acceleration is obtained by calibrating the vehicle stability acceleration ellipse and the comfort limit. This acceleration can determine the closest distance of the point, and traverse between this closest distance and the farthest distance determined by the comfort acceleration until all safety verification conditions are met to determine the final point.

[0091] If the target safe lane change condition of the current lane is met and the target safe lane change condition of the target lane is not met, then traverse forward from the point that meets the comfort kinematic constraint requirements until the lane change condition of the current lane is not met to determine the final point.

[0092] If a point that meets both the target safe lane change condition of the current lane and the target safe lane change condition of the target lane cannot be traversed, then the lane change trajectory generation fails, the lane change planning process ends, and no lane change is performed.

[0093] If the point is successfully obtained, further consider the comfort curvature limit of the section from L 2 to L 3 to calculate and obtain the point.

[0094] So far, the determination of the 4 control points of the B-spline curve is completed.

[0095] Specifically, the control point determination method proposed according to the embodiments of the present application can be as Figure 4 shown.

[0096] S401. Determine the P 1 point according to the vehicle speed and lane change style.

[0097] S402. Determine the initial P 2 point according to the comfort kinematic constraints of lane change.

[0098] S403, Determine whether the safety constraints of the target in front of the current lane are met. If yes, execute S404; otherwise, jump to execute S407.

[0099] S404, Determine whether the target safety constraints are met. If yes, execute S404; otherwise, jump to execute S410.

[0100] S405, Determine point P according to the kinematic constraints of lane-changing comfort. 3 Point.

[0101] S406, The determination of the B-spline control points is completed.

[0102] S407, Traverse backward from the initial point P. 2 Point backward.

[0103] S408, Determine that the vehicle stability limit is not met or the target safety constraints of the target lane are not met. If yes, execute S409; otherwise, jump to execute S403.

[0104] S409, The lane-changing plan fails.

[0105] S410, Traverse forward from the initial point P. 2 Take you to traverse forward.

[0106] S411, Determine whether the safety constraints of the target in front of the current lane are not met. If yes, execute S409; otherwise, jump to execute S404.

[0107] Optionally, in some embodiments, the above method for determining the lane-changing control points further includes: calculating the lateral lane-changing distance of the vehicle according to the first center line and the second center line; obtaining the lateral planning curve equation according to the lane-changing planning time, the first lane-changing control point, the second lane-changing control point, the third lane-changing control point, and the fourth lane-changing control point obtained from the lateral lane-changing distance, and calculating the expected lateral distance, the expected lateral speed, the expected lateral acceleration, and the expected lateral jerk at the target moment according to the lateral planning curve equation; calculating the parameters of the initial lane-changing trajectory cubic curve equation at the target moment according to the expected lateral distance, the expected lateral speed, the expected lateral acceleration, the expected lateral jerk, and the current vehicle speed, and obtaining the parameters of the final lane-changing trajectory cubic curve equation according to the parameters of the initial lane-changing trajectory cubic curve equation and the parameters of the cubic curve equation of the current lane, and generating the lateral planning path of the vehicle according to the parameters of the final lane-changing trajectory cubic curve equation, and performing lateral control on the vehicle according to the lateral planning path.

[0108] Optionally, in some embodiments, the parameters of the final lane-changing trajectory cubic curve equation are:

[0109] [C0,C1,C2,C3] = [C0 lc +C0 c ,C1lc + C1 c , C2 lc + C2 c , C3 lc + C3 c ;

[0110] Among them, C0, C1, C2, and C3 are all parameters of the cubic curve equation of the final lane-changing trajectory. C0 lc , C1 lc , C2 lc , C3 lc are all parameters of the cubic curve equation of the initial lane-changing trajectory. C0 c , C1 c , C2 c , C3 c are all parameters of the cubic curve equation of the current lane.

[0111] Specifically, the relative lateral distance TargetLat between the first center line of the current lane and the second center line of the target lane obtained through step S101 is calculated as TargetLat = C0 t - C0 c .

[0112] It should be noted that if the input is a discrete dot matrix, the cubic curve equations of the target lane center line and the vehicle's own lane center line can be obtained by fitting the dot matrix first, and then the relative lateral distance TargetLat can be calculated. Alternatively, the lateral distance TartetLat can be directly solved based on the discrete points.

[0113] Optionally, in some embodiments, the lateral planning curve equation can be a B-spline curve equation:

[0114]

[0115] Among them, y is the lateral distance, Among them, T is the time parameter for automatic lane-changing lateral planning, t is the time elapsed during the current automatic lane-changing, is the first lane-changing control point, is the second lane-changing control point, is the third lane-changing control point, is the fourth lane-changing control point.

[0116] Optionally, in some embodiments, the method for determining the above-mentioned lane-changing control points, where the expected lateral distance at the target moment is: s t = y(u); the expected lateral speed at the target moment is: The expected lateral acceleration at the target moment is: The expected lateral jerk at the target moment is:

[0117] Specifically, using the calculated expected lateral distance s t , the expected lateral velocity v t , the expected lateral acceleration a t , the expected lateral jerk j t and the vehicle speed v obtained in step A1, calculate the parameters C0 lc , C1 lc , C2 lc , C3 lc of the cubic curve equation of the lane change trajectory at time t: C0 lc = s t ; C1 lc = a t / v; C2 lc = a t / (2·v 2 ); C3 lc = j t / (2·v 3 ).

[0118] According to the parameters C0 c , C1 c , C2 c , C3 c of the cubic curve equation of the center line of the vehicle's lane, obtain the parameters [C0, C1, C2, C3] = [C0 lc + C0 c , C1 lc + C1 c , C2 lc + C2 c , C3 lc + C3 c for lateral control. This information is output to the lateral controller for lateral control of the automatic lane change.

[0119] Among them, C0, C1, C2, and C3 are all the parameters of the cubic curve equation of the final lane change trajectory. C0 lc , C1 lc , C2 lc , C3 lc are all the parameters of the cubic curve equation of the initial lane change trajectory. C0 c , C1 c , C2 c , C3 c are all the parameters of the cubic curve equation of the current lane.

[0120] Optionally, in some embodiments, after performing lateral control on the vehicle according to the lateral planned path, the method further includes: collecting the current lateral speed and the current position of the vehicle; if the current lateral speed is less than a preset speed value and the duration reaches a first preset duration, and the lateral error between the current position and the target position is less than a preset error and the duration reaches a second preset duration, it is determined that the vehicle has completed the lane change operation.

[0121] Specifically, it is determined whether the automatic lane change is completed according to the following conditions: (1) the lateral speed of the vehicle is less than the threshold value v for a certain period of time thres ; (2) the lateral position error from the target lane is less than s for a certain period of time thres . If the above conditions are met, it is considered that the lane change has been completed, and the calculation of the planned Bezier curve and the lateral control command for the automatic lane change is stopped.

[0122] To enable those skilled in the art to further understand the method for determining the lane change control points in the embodiments of the present application, the following will be elaborated in detail with specific embodiments.

[0123] As Figure 5 shown, Figure 5 is a flowchart of the method for determining the lane change control points according to an embodiment of the present application.

[0124] S501, determine whether the vehicle starts an automatic lane change. If so, execute S502; otherwise, jump to execute S511.

[0125] Receive the automatic lane change instruction from the decision-making system. If the decision-making system instruction is to start a lane change, execute step S502; otherwise, end.

[0126] S502, obtain the lane centerline information and the vehicle speed information.

[0127] Obtain real-time information through the perception system, and obtain the current lane centerline information, the target lane centerline information, and the vehicle speed information v. Among them, the centerline information of the vehicle's own lane is represented by a cubic curve fitting as y c = C0 c + C1 c · x + C2 c · x 2 + C4 c · x 4 , and the centerline information of the target lane is represented by a cubic curve fitting as y t = C0 t + C1 t · x + C2 t · x 2 + C4 t · x 4 . Among them, y C is the lateral distance, yt is the horizontal distance, and x is the vertical distance.

[0128] S503. Calculate the automatic lane change parameter TargetLat, where TargetLat = C0 t -C0 c .

[0129] S504. Look up the automatic lane change lateral acceleration limit in a table.

[0130] Based on the vehicle speed v and the lane change lateral distance TargetLat, look up the calibrated two-dimensional table to obtain the time parameter T.

[0131] S505. Calculate the B-spline curve control point set.

[0132] S506. Calculate the B-spline curve.

[0133]

[0134] where T is the time parameter for the automatic lane change lateral planning, y is the lateral distance, and t is the time elapsed during the current automatic lane change.

[0135] S507. Calculate the expected lateral acceleration distance, speed, acceleration, and jerk for the automatic lane change.

[0136] The expected lateral distance s t = y(u);

[0137] The expected lateral speed

[0138] The expected lateral acceleration

[0139] The expected lateral jerk

[0140] The above T is the time parameter for the automatic lane change lateral planning, and t is the time elapsed during the current automatic lane change.

[0141] S508. Calculate the parameters of the automatic lane change cubic curve equation.

[0142] Using the calculated expected lateral distance s t , the lateral speed v t , the lateral acceleration a t , the lateral jerk j t and the vehicle speed v of the host vehicle obtained in step A1, calculate the parameters C0 lc , C1 lc , C2 lc , C4lc : C0 lc = s t ; C1 lc = a t / v; C2 lc = a t / (2·v 2 ); C4 lc = j t / (2·v 4 ).

[0143] S509, output the parameters of the cubic curve equation for automatic lane change three times.

[0144] According to the parameters C0 c , C1 c , C2 c , C4 c of the cubic curve equation of the center line of the vehicle's own lane, obtain the parameters of the trajectory cubic curve equation for lateral control [C0, C1, C2, C4] = [C0 lc + C0 c , C1 lc + C1 c , C2 lc + C2 c , C4 lc + C4 c . This information is output to the lateral controller to perform lateral control of automatic lane change.

[0145] S510, determine whether the lane change is completed. If so, execute step S511; otherwise, jump to execute step S504.

[0146] If the lateral speed of the lateral vehicle is less than the threshold v thres for a continuous period of time, and the lateral position error of the target lane is less than s thres for a continuous period of time, then it is determined that the lane change has been completed; otherwise, execute step S504.

[0147] S511, end.

[0148] The method for determining a lane change control point according to an embodiment of the present application obtains the first center line of the current lane where the vehicle is located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed, and obstacle information of the vehicle, determines the first lane change control point of the vehicle according to the position of the rear axle center, and determines the second lane change point of the vehicle based on the first preset time interval and the first lane change control point, where the second lane change point is located on the first center line of the current vehicle of the vehicle, and determines the third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information, and a preset collision safety constraint condition, and determines the fourth lane change control point of the vehicle according to the third lane change control point and the second preset time interval. Thereby, the problems of large calculation amount, difficult application, and high performance index requirements in the related art for the lateral planning method are solved. The lateral path information that comprehensively considers lane change safety and comfort not only has high calculation efficiency and strong applicability, but also can adjust the lane change style according to the driver's expectation.

[0149] Next, a device for determining a lane change control point according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0150] Figure 6 It is a block diagram of a device for determining a lane change control point according to an embodiment of the present application.

[0151] As Figure 6 shown, the device 10 for determining a lane change control point includes: an acquisition module 100, a first determination module 200, and a second determination module 300.

[0152] Among them, the acquisition module 100 is configured to acquire the first center line of the current lane where the vehicle is located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed, and obstacle information; the first determination module 200 is configured to determine the first lane change control point of the vehicle according to the position of the rear axle center, and determine the second lane change point of the vehicle based on the first preset time interval and the first lane change control point, where the second lane change point is located on the first center line of the current vehicle of the vehicle; and the second determination module 300 is configured to determine the third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information, and a preset collision safety constraint condition, and determine the fourth lane change control point of the vehicle according to the third lane change control point and the second preset time interval, where the third lane change control point and the fourth lane change control point are located on the second center line of the target lane.

[0153] Optionally, in some embodiments, the second determination module 300 is further configured to: calculate the maximum curvature of the planned trajectory according to the current vehicle speed and a preset path maximum curvature formula; obtain a plurality of initial third lane change control points according to the longitudinal distance of the second lane change control point and the maximum curvature of the planned trajectory; screen out the optimal lane change control point from the plurality of initial third lane change control points based on a preset collision safety constraint condition, and use the optimal lane change control point as the third lane change control point.

[0154] Optionally, in some embodiments, the preset collision safety constraint conditions include the collision safety constraint conditions of the current lane and the collision safety constraint conditions of the target lane. Based on the preset collision safety constraint conditions, the optimal lane-changing control point is selected from multiple initial third lane-changing control points. The second determination module 300 is further configured to: select multiple safe lane-changing control points that meet the collision safety constraint conditions of the current lane from the multiple initial third lane-changing control points; traverse the multiple safe lane-changing control points based on the collision safety constraint conditions of the target lane, and use the first safe lane-changing control point that meets the collision safety constraint conditions of the target lane as the optimal lane-changing control point.

[0155] Optionally, in some embodiments, the preset collision safety constraint conditions are:

[0156]

[0157]

[0158] where L obj is the longitudinal distance of the obstacle, v obj is the speed of the obstacle, v ego is the speed of the host vehicle, delta safe is the safety threshold, L 1 is P 1 to P 0 distance, L 2 is P 2 to P 1 distance, θ 1 is L 1 and L 2 angle.

[0159] Optionally, in some embodiments, the above-described lane-changing control point determination device 10 further includes: a first calculation module for calculating the lateral lane-changing distance of the vehicle according to the first center line and the second center line; a second calculation module for obtaining a lateral planning curve equation based on the lane-changing planning time, the first lane-changing control point, the second lane-changing control point, the third lane-changing control point, and the fourth lane-changing control point obtained from the lateral lane-changing distance, and calculating the expected lateral distance, the expected lateral speed, the expected lateral acceleration, and the expected lateral jerk at the target moment according to the lateral planning curve equation; a control module for calculating the parameters of the initial lane-changing trajectory cubic curve equation at the target moment according to the expected lateral distance, the expected lateral speed, the expected lateral acceleration, the expected lateral jerk, and the current vehicle speed, obtaining the parameters of the final lane-changing trajectory cubic curve equation according to the parameters of the initial lane-changing trajectory cubic curve equation and the parameters of the cubic curve equation of the current lane, generating a lateral planning path for the vehicle according to the parameters of the final lane-changing trajectory cubic curve equation, and performing lateral control on the vehicle according to the lateral planning path.

[0160] Optionally, in some embodiments, after performing lateral control on the vehicle according to the lateral planning path, the control module of the above-described lane-changing control point determination device 10 is further configured to: collect the current lateral speed and the current position of the vehicle; if the current lateral speed is less than a preset speed value and the duration reaches a first preset duration, and the lateral error between the current position and the target position is less than a preset error and the duration reaches a second preset duration, it is determined that the vehicle has completed the lane-changing action.

[0161] Optionally, in some embodiments, the lateral planning curve equation is:

[0162]

[0163] where y is the lateral distance, where T is the time parameter for automatic lane-changing lateral planning, t is the time elapsed during the current automatic lane-changing, is the first lane-changing control point, is the second lane-changing control point, is the third lane-changing control point, is the fourth lane-changing control point.

[0164] Optionally, in some embodiments, where the expected lateral distance at the target moment is: s t = y(u); the expected lateral speed at the target moment is: The expected lateral acceleration at the target moment is: The expected lateral jerk at the target moment is:

[0165] Optionally, in some embodiments, before obtaining the first center line of the current lane where the vehicle is located, the second center line of the target lane, the current vehicle speed, and the obstacle information, the obtaining module 100 is further configured to: determine whether the vehicle receives an automatic lane change instruction; if an automatic lane change instruction is received, control the vehicle to enter the lane change mode, otherwise, control the vehicle to maintain the current mode.

[0166] Optionally, in some embodiments, the parameters of the cubic curve equation of the final lane change trajectory are:

[0167] [C0, C1, C2, C3] = [C0 lc + C0 c , C1 lc + C1 c , C2 lc + C2 c , C3 lc + C3 c ;

[0168] wherein, C0, C1, C2, and C3 are all parameters of the cubic curve equation of the final lane change trajectory, C0 lc , C1 lc , C2 lc , C3 lc are all parameters of the cubic curve equation of the initial lane change trajectory, C0 c , C1 c , C2 c , C3 c are all parameters of the cubic curve equation of the current lane where the vehicle is located.

[0169] It should be noted that the foregoing explanation of the embodiment of the method for determining the lane change control point is also applicable to the device for determining the lane change control point of this embodiment, and will not be elaborated here.

[0170] According to the device for determining the lane change control point provided by the embodiments of the present application, by obtaining the first center line of the current lane where the vehicle is located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed, and the obstacle information of the vehicle, and determining the first lane change control point of the vehicle according to the position of the rear axle center, and determining the second lane change point of the vehicle based on the first preset time interval and the first lane change control point, wherein the second lane change point is located on the first center line of the current vehicle, and determining the third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information, and the preset collision safety constraint conditions, and determining the fourth lane change control point of the vehicle according to the third lane change control point and the second preset time interval. Thus, the problems of large calculation amount, difficult application, and high performance index requirements in the related art of the lateral planning method are solved. The lateral path information that comprehensively considers the lane change safety and comfort not only has high calculation efficiency and strong applicability, but also can adjust the lane change style according to the driver's expectation.

[0171] Figure 7 This is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle may include:

[0172] A memory 701, a processor 702, and a computer program stored on the memory 701 and executable on the processor 702.

[0173] When the processor 702 executes the program, it implements the method for determining the lane-changing control point provided in the above embodiment.

[0174] Furthermore, the vehicle further includes:

[0175] A communication interface 703 for communication between the memory 701 and the processor 702.

[0176] The memory 701 is used to store a computer program executable on the processor 702.

[0177] The memory 701 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0178] If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 can be interconnected through a bus and communicate with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 7 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0179] Optionally, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 can communicate with each other through an internal interface.

[0180] The processor 702 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0181] The embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method for determining a lane-changing control point as described above is implemented.

[0182] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0183] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0184] Any process or method description shown in the flowchart or described in other ways herein may be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logic function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0185] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays, field programmable gate arrays, etc.

[0186] Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0187] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for determining a lane - change control point, characterized in that, it includes the following steps: Obtain the first center line of the lane where the vehicle is currently located, the second center line of the target lane, the position of the rear - axle center, the current vehicle speed, and obstacle information; Determine the first lane - change control point of the vehicle according to the position of the rear - axle center, and determine the second lane - change control point of the vehicle based on a first preset time interval and the first lane - change control point, where the second lane - change control point is located on the first center line of the vehicle; and Determine the third lane - change control point of the vehicle according to the second lane - change control point, the current vehicle speed, the obstacle information, and a preset collision - safety constraint condition, and determine the fourth lane - change control point of the vehicle according to the third lane - change control point and a second preset time interval, where the third lane - change control point and the fourth lane - change control point are located on the second center line of the target lane, Determine the third lane - change control point according to the current vehicle speed, the maximum lateral acceleration at the current vehicle speed, and a preset path maximum curvature formula, Judge whether the third lane - change control point meets the safety lane - change conditions of the current lane and the target lane; If the third lane - change control point meets the safety lane - change conditions of the current lane and the target lane, then determine the fourth lane - change control point according to the third lane - change control point; If the third lane - change control point does not meet the safety lane - change conditions of the current lane, and the third lane - change control point meets the safety lane - change conditions of the target lane, then amplify the maximum lateral acceleration, and traverse between the closest distance determined by the maximum lateral acceleration and the farthest distance determined by the lateral acceleration calibrated by comfort limit until the third lane - change control point meets the safety lane - change conditions of the current lane and the target lane.

2. The method according to claim 1, characterized in that, it further includes: Calculate the lateral lane - change distance of the vehicle according to the first center line and the second center line; Obtain a lateral planning curve equation based on the lane - change planning time obtained from the lateral lane - change distance, the first lane - change control point, the second lane - change control point, the third lane - change control point, and the fourth lane - change control point, and calculate the expected lateral distance, expected lateral speed, expected lateral acceleration, and expected lateral jerk at the target moment according to the lateral planning curve equation; Calculate the parameters of the initial lane - change trajectory cubic curve equation at the target moment according to the expected lateral distance, the expected lateral speed, the expected lateral acceleration, the expected lateral jerk, and the current vehicle speed, obtain the parameters of the final lane - change trajectory cubic curve equation according to the parameters of the initial lane - change trajectory cubic curve equation and the parameters of the cubic curve equation of the current lane, generate the lateral planning path of the vehicle according to the parameters of the final lane - change trajectory cubic curve equation, and perform lateral control on the vehicle according to the lateral planning path.

3. The method according to claim 2, characterized in that, after performing lateral control on the vehicle according to the lateral planning path, it further includes: Collect the current lateral speed and current position of the vehicle; If the current lateral speed is less than a preset speed value and the duration reaches a first preset duration, and the lateral error between the current position and the target position is less than a preset error and the duration reaches a second preset duration, it is determined that the vehicle has completed a lane change operation.

4. The method according to claim 2, characterized in that, the lateral planning curve equation is: ； Among them, is the lateral distance, , where is the time parameter for the lateral planning of the automatic lane change, is the time elapsed during the current automatic lane change, is the first lane change control point, is the second lane change control point, is the third lane change control point, is the fourth lane change control point.

5. The method according to claim 4, characterized in that, wherein, The expected lateral distance at the target moment is as follows: ; The expected lateral velocity at the target moment is as follows: ; The expected lateral acceleration at the target moment is as follows: ; The expected lateral jerk at the target moment is as follows: .

6. The method according to claim 1, characterized in that, Before obtaining the first center line of the current lane where the vehicle is located, the second center line of the target lane, the current vehicle speed, and obstacle information, it further includes: Determine whether the vehicle has received an automatic lane change instruction; If the automatic lane change instruction is received, control the vehicle to enter the lane change mode, otherwise, control the vehicle to maintain the current mode.

7. The method according to claim 2, characterized in that, the parameters of the cubic curve equation of the final lane change trajectory are: ； Among them, are all parameters of the cubic curve equation of the final lane-changing trajectory, are all parameters of the cubic curve equation of the initial lane-changing trajectory, are all parameters of the cubic curve equation of the currently occupied lane.

8. A device for determining lane change control points, characterized in that, comprises: An acquisition module for acquiring the first center line of the current lane where the vehicle is located, the second center line of the target lane, the position of the rear axle center, the current vehicle speed, and obstacle information; A first determination module for determining a first lane change control point of the vehicle according to the position of the rear axle center, and determining a second lane change control point of the vehicle based on a first preset time interval and the first lane change control point, wherein the second lane change control point is located on the first center line of the current vehicle; and A second determination module for determining a third lane change control point of the vehicle according to the second lane change control point, the current vehicle speed, the obstacle information, and a preset collision safety constraint condition, and determining a fourth lane change control point of the vehicle according to the third lane change control point and a second preset time interval, wherein the third lane change control point and the fourth lane change control point are located on the second center line of the target lane, Determine the third lane change control point according to the current vehicle speed, the maximum lateral acceleration at the current vehicle speed, and a preset path maximum curvature formula, Judge whether the third lane change control point meets the safe lane change conditions of the current lane and the target lane; If the third lane change control point meets the safe lane change conditions of the current lane and the target lane, determine the fourth lane change control point according to the third lane change control point; If the third lane change control point does not meet the safe lane change conditions of the current lane, and the third lane change control point meets the safe lane change conditions of the target lane, amplify the maximum lateral acceleration, and traverse between the nearest distance determined by the maximum lateral acceleration and the farthest distance determined by the lateral acceleration calibrated by the comfort limit until the third lane change control point meets the safe lane change conditions of the current lane and the target lane.

9. The device according to claim 8, characterized in that, further comprises: A first calculation module for calculating the lateral lane change distance of the vehicle according to the first center line and the second center line; A second calculation module, configured to obtain a lateral planning curve equation based on the lane change planning time obtained from the lateral lane change distance, the first lane change control point, the second lane change control point, the third lane change control point, and the fourth lane change control point, and calculate an expected lateral distance, an expected lateral speed, an expected lateral acceleration, and an expected jerk at a target time according to the lateral planning curve equation; A control module, configured to calculate parameters of a cubic curve equation of an initial lane change trajectory at the target time according to the expected lateral distance, the expected lateral speed, the expected lateral acceleration, the expected jerk, and the current vehicle speed, obtain parameters of a cubic curve equation of a final lane change trajectory according to the parameters of the cubic curve equation of the initial lane change trajectory and the parameters of the cubic curve equation of the currently occupied lane, generate a lateral planning path of the vehicle according to the parameters of the cubic curve equation of the final lane change trajectory, and perform lateral control on the vehicle according to the lateral planning path.

10. The apparatus according to claim 9, wherein, after performing lateral control on the vehicle according to the lateral planning path, the control module is further configured to: acquire the current lateral speed and the current position of the vehicle; if the current lateral speed is less than a preset speed value and the duration reaches a first preset duration, and the lateral error between the current position and the target position is less than a preset error and the duration reaches a second preset duration, it is determined that the vehicle has completed the lane change action.

11. The apparatus according to claim 9, wherein, the lateral planning curve equation is: ； Among them, is the lateral distance, , where is the time parameter for the lateral planning of the automatic lane change, is the time elapsed during the current automatic lane change, is the first lane change control point, is the second lane change control point, is the third lane change control point, is the fourth lane change control point.

12. The apparatus according to claim 11, wherein, where, The expected lateral distance at the target moment is as follows: ; The expected lateral speed at the target moment is as follows: ; The expected lateral acceleration at the target moment is as follows: ; The expected lateral jerk at the target moment is as follows: .

13. The apparatus according to claim 8, wherein, before obtaining the first center line of the currently occupied lane of the vehicle, the second center line of the target lane, the current vehicle speed, and the obstacle information, the obtaining module is further configured to: determine whether the vehicle has received an automatic lane change instruction; if the automatic lane change instruction is received, control the vehicle to enter the lane change mode, otherwise, control the vehicle to maintain the current mode.

14. The apparatus according to claim 9, wherein, the parameters of the cubic curve equation of the final lane change trajectory are: ； Among them, are all parameters of the cubic curve equation of the final lane-changing trajectory, are all parameters of the cubic curve equation of the initial lane-changing trajectory, are all parameters of the cubic curve equation of the currently occupied lane.

15. A vehicle, wherein, comprises: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the method for determining lane change control points as described in any one of claims 1-7.

16. A computer-readable storage medium, on which a computer program is stored, wherein, the program is executed by a processor to be used to implement the method for determining lane change control points as described in any one of claims 1-7.

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