Trajectory planning method, device, equipment and storage medium for emergency lane keeping based on Bezier curve

Abstract

This application discloses a Bezier curve-based trajectory planning method, apparatus, device, and storage medium for emergency lane keeping, relating to the field of vehicle intelligent driving technology. The Bezier curve-based trajectory planning method for emergency lane keeping includes: obtaining a road edge scene and classifying the road edge scene to obtain a classification result; determining a target lateral deviation between the starting point and the end point of the trajectory planning based on the classification result; obtaining starting point parameters and end point parameters of the trajectory planning, wherein the starting point parameters include at least the starting point lateral acceleration, and the end point parameters include at least the end point lateral acceleration; and using the target lateral deviation, the starting point parameters, and the end point parameters as Bezier curve parameters to perform trajectory planning for emergency lane keeping, thereby obtaining a target planned trajectory. This application can improve the stability of the trajectory planning results for emergency lane keeping.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent driving technology, and in particular to a trajectory planning method, device, equipment, and storage medium for emergency lane keeping based on Bezier curves. Background Art

[0002] The Emergency Lane Keeping (ELK) system actively corrects the vehicle's posture when the driver unintentionally steers toward the road edge or into an adjacent lane with oncoming or overtaking vehicles. However, the ELK function is currently affected by the complexity and diversity of road edge scenarios, resulting in low stability in the trajectory planning results for emergency lane keeping. Therefore, improving the stability of trajectory planning for emergency lane keeping remains an unresolved issue.

[0003] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a trajectory planning method, device, equipment and storage medium for emergency lane keeping based on Bezier curves, aiming to solve the technical problem of how to improve the stability of trajectory planning results for emergency lane keeping.

[0005] To achieve the above objectives, the present application proposes a trajectory planning method for emergency lane keeping based on Bezier curves, the method comprising:

[0006] Acquire a roadside scene, and classify the roadside scene to obtain a classification result;

[0007] Determine the target lateral deviation between the starting point and the end point of the trajectory planning according to the classification result;

[0008] Acquire starting point parameters and end point parameters of the trajectory planning, wherein the starting point parameters include at least a starting point lateral acceleration, and the end point parameters include at least an end point lateral acceleration;

[0009] The target lateral deviation, the starting point parameter, and the end point parameter are used as parameters of a Bezier curve to perform trajectory planning for emergency lane keeping, thereby obtaining a target planned trajectory.

[0010] In one embodiment, the step of determining the target lateral deviation between the starting point and the end point of the trajectory planning according to the classification result includes:

[0011] Determining target edges on the left side of the road and the right side of the road according to the classification result, and obtaining edge coefficients of the target edges;

[0012] Obtaining a lateral distance between the vehicle and the target edge;

[0013] Obtaining a preset lateral offset between the end point of the planned trajectory and the target edge;

[0014] A target lateral deviation between a starting point and an end point of trajectory planning is determined according to the edge coefficient, the lateral distance, and the preset lateral offset.

[0015] In one embodiment, the step of determining the target edges on the left side and the right side of the road according to the classification result includes:

[0016] When the classification result shows that there is only a lane line on the left side of the vehicle and only a curb on the right side, the left lane line is determined as the left target edge, and the right lane line is determined as the right target edge;

[0017] When the classification result shows that there is only a lane line on the left side of the vehicle and there are both a lane line and a curb on the right side, the left lane line is determined as the left target edge, and the right target edge is determined based on the distance between the right lane line and the right curb;

[0018] When the classification result shows that there is only a curb on the right side of the vehicle and no lane line or curb on the left side, the right curb is determined as the right target edge, and there is no left target edge;

[0019] When the classification result shows that there are both a lane line and a curb with a spacing less than a preset value on the right side of the vehicle and no lane line or curb on the left side, the right lane line is determined as the right target edge, and there is no left target edge;

[0020] When the classification result is that there are lane lines and curbs with a spacing of not less than a preset value on the right side of the vehicle and no lane lines or curbs on the left side, the right curb is determined as the right target edge and there is no left target edge.

[0021] In one embodiment, the step of obtaining a preset lateral offset between the endpoint of the planned trajectory and the target edge includes:

[0022] Obtaining a left lateral speed of the vehicle relative to a target edge on the left side of the road, a right lateral speed of the vehicle relative to a target edge on the right side of the road, a maximum left lateral speed of the vehicle relative to the target edge on the left side of the road, and a maximum right lateral speed of the vehicle relative to the target edge on the right side of the road;

[0023] A preset lateral offset of the target edge is determined according to the left lateral speed, the right lateral speed, the left lateral speed maximum value, and the right lateral speed maximum value.

[0024] In one embodiment, the step of performing emergency lane keeping trajectory planning using the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to obtain a target planned trajectory includes:

[0025] Determine a lateral acceleration Bezier curve according to the target lateral deviation, the starting point parameter, and the end point parameter;

[0026] The lateral acceleration Bezier curve is integrated twice to obtain a lateral displacement Bezier curve, and the target planning trajectory is obtained.

[0027] In one embodiment, the step of determining a lateral acceleration Bezier curve according to the target lateral deviation, the starting point parameter, and the end point parameter comprises:

[0028] Determine a curve starting point and a curve end point of a lateral acceleration Bezier curve according to the starting point parameter and the end point parameter;

[0029] A lateral acceleration Bezier curve is determined according to the curve starting point, the curve end point, and the target lateral deviation.

[0030] In one embodiment, the step of determining a lateral acceleration Bezier curve according to the curve starting point, the curve end point, and the target lateral deviation includes:

[0031] Calculating the lateral acceleration of the end point of the first Bezier curve, the lateral velocity difference of the first Bezier curve, and the lateral velocity difference of the second Bezier curve according to the curve starting point, the curve end point, and the target lateral deviation;

[0032] A lateral acceleration Bezier curve is determined according to the end point lateral acceleration, the lateral velocity difference of the first Bezier curve segment, and the lateral velocity difference of the second Bezier curve segment.

[0033] In addition, to achieve the above objectives, the present application also proposes a trajectory planning device for emergency lane keeping based on a Bezier curve, the trajectory planning device for emergency lane keeping based on a Bezier curve comprising:

[0034] A classification module, configured to obtain a roadside scene, classify the roadside scene, and obtain a classification result;

[0035] a determination module, configured to determine a target lateral deviation between a starting point and an end point of trajectory planning based on the classification result;

[0036] an acquisition module, configured to acquire the starting point parameters and the end point parameters of the trajectory planning, wherein the starting point parameters at least include the starting point lateral acceleration, and the end point parameters at least include the end point lateral acceleration;

[0037] A planning module is used to perform emergency lane keeping trajectory planning by using the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to obtain a target planned trajectory.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a trajectory planning device for emergency lane keeping based on Bezier curves, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the trajectory planning method for emergency lane keeping based on Bezier curves as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the trajectory planning method for emergency lane keeping based on Bezier curves as described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the trajectory planning method for emergency lane keeping based on Bezier curves as described above.

[0041] The present application provides a trajectory planning method for emergency lane keeping based on a Bezier curve. The present application obtains a road edge scene and classifies the road edge scene to obtain a classification result; determines a target lateral deviation between a starting point and an end point of trajectory planning based on the classification result; obtains a starting point parameter and an end point parameter of the trajectory planning, wherein the starting point parameter includes at least a starting point lateral acceleration, and the end point parameter includes at least an end point lateral acceleration; uses the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to perform trajectory planning for emergency lane keeping to obtain a target planned trajectory.

[0042] In summary, the present application improves the stability of the trajectory planning results of emergency lane keeping by combining various situations of road edge scenes and performing targeted trajectory planning of emergency lane keeping through Bezier curves. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 A flowchart of the first embodiment of the trajectory planning method for emergency lane keeping based on Bezier curves provided in this application;

[0046] Figure 2 Schematic diagram of trajectory planning for different road edge scenarios of the Bezier curve-based emergency lane keeping trajectory planning method provided in Example 1 of the present application;

[0047] Figure 3 A schematic diagram of a third-order Bezier curve for the Bezier curve-based trajectory planning method for emergency lane keeping provided in Example 1 of the present application;

[0048] Figure 4 A schematic diagram of trajectory planning for a road edge scenario of a Bezier curve-based emergency lane keeping trajectory planning method provided in Example 1 of the present application;

[0049] Figure 5 A flowchart illustrating a second embodiment of a trajectory planning method for emergency lane keeping based on Bezier curves is provided in this application;

[0050] Figure 6 A schematic diagram of trajectory planning for a road edge scenario 1 of a Bezier curve-based emergency lane keeping trajectory planning method provided in Example 2 of the present application;

[0051] Figure 7 A schematic diagram of trajectory planning for a second road edge scenario of a Bezier curve-based emergency lane keeping trajectory planning method provided in Example 2 of the present application;

[0052] Figure 8 A schematic diagram of trajectory planning for a third road edge scenario of a Bezier curve-based emergency lane keeping trajectory planning method according to the second embodiment of the present application;

[0053] Figure 9 A schematic diagram of trajectory planning for a fourth road edge scenario of a Bezier curve-based emergency lane keeping trajectory planning method according to the second embodiment of the present application;

[0054] Figure 10 A schematic diagram of trajectory planning for a road edge scenario 5 of the Bezier curve-based emergency lane keeping trajectory planning method provided in Example 2 of the present application;

[0055] Figure 11This is a schematic diagram of the module structure of a trajectory planning device for emergency lane keeping based on Bezier curves according to an embodiment of the present application;

[0056] Figure 12 Schematic diagram of the device structure of the hardware operating environment involved in the trajectory planning method for emergency lane keeping based on Bezier curves in an embodiment of the present application.

[0057] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0059] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0060] The main solution of this application is to obtain a road edge scene and classify the road edge scene to obtain a classification result; determine the target lateral deviation between the starting point and the end point of trajectory planning based on the classification result; obtain the starting point parameters and end point parameters of the trajectory planning, the starting point parameters at least include the starting point lateral acceleration, and the end point parameters at least include the end point lateral acceleration; use the target lateral deviation, the starting point parameters and the end point parameters as parameters of the Bezier curve to perform trajectory planning for emergency lane keeping, and obtain the target planned trajectory.

[0061] Currently, emergency lane keeping is affected by the complexity and diversity of road edge scenarios, resulting in low stability in trajectory planning. Therefore, improving the stability of trajectory planning for emergency lane keeping remains an unresolved issue.

[0062] This application combines various situations of road edge scenes and uses Bezier curves to perform targeted emergency lane keeping trajectory planning, thereby improving the stability of the emergency lane keeping trajectory planning results.

[0063] Based on this, the embodiment of the present application provides a trajectory planning method for emergency lane keeping based on Bezier curve, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the trajectory planning method for emergency lane keeping based on Bezier curves in this application.

[0064] In this embodiment, the trajectory planning method for emergency lane keeping based on Bezier curves includes steps S10 to S40:

[0065] Step S10: Acquire a road edge scene, and classify the road edge scene to obtain a classification result;

[0066] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, a trajectory planning device for emergency lane keeping based on a Bezier curve, etc. The following uses the trajectory planning device for emergency lane keeping based on a Bezier curve as an example to illustrate this embodiment and the following embodiments.

[0067] It should be noted that due to the complexity and variability of roadside scenarios, trajectory planning needs to consider the impact of roadside scenarios and conduct targeted trajectory planning. Therefore, it is possible to first classify roadside scenarios and determine different trajectory planning schemes based on different classification results.

[0068] It is understandable that the classification process first obtains the road edge scene, obtains lane lines and curbs based on the road edge scene; then classifies the obtained lane lines and curbs, and the classification results include: there are only lane lines on the left side of the vehicle and only curbs on the right side, there are only lane lines on the left side of the vehicle and both lane lines and curbs on the right side, there is only curbs on the right side of the vehicle and no lane lines or curbs on the left side, there are lane lines and curbs on the right side of the vehicle with an interval less than a preset value and no lane lines or curbs on the left side, and there are lane lines and curbs on the right side of the vehicle with an interval not less than a preset value and no lane lines or curbs on the left side. Figure 2 , Figure 2 Schematic diagram of trajectory planning for different road edge scenarios. Different planned trajectories are determined based on different road edge scenarios.

[0069] It is understandable that there may be lane lines and road edges in the road edge scene. Since the quality of the road edge is not stable enough, while the quality of the lane line is generally good, the lane line is selected as the reference line in the scene where the lane line exists.

[0070] Step S20: determining the target lateral deviation between the starting point and the end point of the trajectory planning according to the classification result;

[0071] It should be noted that a Bezier curve is a smooth curve defined by a series of control points. These control points determine the shape and direction of the curve. In a Bezier curve, the starting and ending points are fixed, while the control points can be located anywhere along the curve. By adjusting these control points, the curve's shape can be changed. During the trajectory planning process of this embodiment, one of the key parameters of the Bezier curve is the target lateral deviation between the starting and ending points of the trajectory planning. Therefore, it is necessary to determine the target lateral deviation based on the classification results of the road edge field for subsequent calculations.

[0072] Step S30: obtaining starting point parameters and end point parameters of the trajectory planning, wherein the starting point parameters at least include the starting point lateral acceleration, and the end point parameters at least include the end point lateral acceleration;

[0073] It should be noted that, in this embodiment, the starting point lateral velocity and the starting point lateral acceleration can be directly obtained, and the end point lateral velocity and the end point lateral acceleration can be set according to actual conditions, thereby obtaining the starting point parameters and the end point parameters.

[0074] Step S40: Using the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to perform trajectory planning for emergency lane keeping, and obtain a target planned trajectory.

[0075] It should be noted that, in this embodiment, the initially obtained Bezier curve is a lateral acceleration curve, and the target planning trajectory curve can be obtained by integration.

[0076] In one feasible manner, the step of performing emergency lane keeping trajectory planning using the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to obtain a target planned trajectory includes:

[0077] Determine a lateral acceleration Bezier curve according to the target lateral deviation, the starting point parameter, and the end point parameter;

[0078] The lateral acceleration Bezier curve is integrated twice to obtain a lateral displacement Bezier curve, and the target planning trajectory is obtained.

[0079] It is understood that the starting point and end point of the lateral acceleration Bezier curve can first be determined based on the starting point parameter and the end point parameter; then, the lateral acceleration Bezier curve can be determined based on the starting point, end point, and target lateral deviation. In a specific process, the end point lateral acceleration of the first Bezier curve, the lateral velocity difference of the first Bezier curve, and the lateral velocity difference of the second Bezier curve can be calculated based on the starting point, end point, and target lateral deviation; and the lateral acceleration Bezier curve can be determined based on the end point lateral acceleration, the lateral velocity difference of the first Bezier curve, and the lateral velocity difference of the second Bezier curve.

[0080] It is understandable that in order to ensure the continuity and smoothness of each curve segment, this embodiment selects a 3rd order Bezier curve. Figure 3As shown, there are two curves, each requiring four control points. Since only the acceleration information of the start and end points is known, the other two control points are based on adjacent information, as shown in the figure for the control points (t0, a0), (t1, am), and (t2, ae). (t1, am) can be used as both the end point of the first Bezier curve and the starting point of the second Bezier curve, for a total of four control points. Based on the kinematic relationship of the lateral velocity, the following equation can be calculated:

[0081]

[0082] Among them, a0 is the lateral acceleration of the starting point, a m is the lateral acceleration of the end point of the first Bezier curve, which is the lateral acceleration of the starting point of the second Bezier curve. e is the lateral acceleration of the end point. In ELK trajectory planning, the lateral acceleration of the end point is set to 0. Assuming that the planning time of the two Bezier curves is consistent, d t Represents the planning time of each Bezier curve; Δv1 and Δv2 are the lateral speed difference of the first Bezier curve and the lateral speed difference of the second Bezier curve, respectively.

[0083] According to the kinematic relationship of lateral displacement, the following equation can be calculated:

[0084]

[0085] Among them, v0, v e are the lateral velocities of the starting point and the ending point, respectively. The lateral velocity of the ending point is set to 0 in ELK trajectory planning; Δp1 and Δp2 represent the lateral displacement difference of the first Bezier curve and the lateral displacement difference of the second Bezier curve, respectively.

[0086] According to the relationship between the velocity and displacement of the two Bezier curves, the following equation can be listed:

[0087] Δv1+Δv2-dv=0

[0088] Δp1+Δp2-dp=0

[0089] Among them, d v d p are the lateral velocity difference between the end point and the starting point of the planned trajectory, and the lateral displacement difference between the end point and the starting point of the planned trajectory, respectively.

[0090] From the above equation we can get:

[0091]

[0092] From this, the lateral acceleration a at the end point of the first Bezier curve can be calculated mand the planning time d for each Bezier curve t When completing a m and d t By calculating , we can get two Bezier curves, and then get a smooth lateral acceleration curve. The lateral acceleration curve can be integrated to get the lateral velocity curve. Finally, the lateral velocity curve can be integrated to get the lateral displacement curve, that is, the planned trajectory of the Bezier curve. Figure 4 , Figure 4 The schematic diagram of the trajectory planning for the road edge scene is shown in Figure 1, where Ego is the vehicle, (t0, a0) is the starting point, (t2, a e ) is the end point, delta_lat_posn is the lateral deviation between the starting point and the end point of the planned trajectory, and extra_margin_end_offset is the lateral offset of the end point of the planned trajectory from the edge of the road.

[0093] This embodiment obtains a road edge scene and classifies the road edge scene to obtain a classification result; determines a target lateral deviation between a starting point and an end point of trajectory planning based on the classification result; obtains starting point parameters and end point parameters of the trajectory planning, wherein the starting point parameters include at least a starting point lateral acceleration, and the end point parameters include at least an end point lateral acceleration; uses the target lateral deviation, the starting point parameters, and the end point parameters as parameters of a Bezier curve to perform trajectory planning for emergency lane keeping, thereby obtaining a target planned trajectory.

[0094] In summary, this embodiment combines various situations of road edge scenes and uses Bezier curves to perform targeted trajectory planning for emergency lane keeping, thereby improving the stability of the trajectory planning results for emergency lane keeping.

[0095] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 5 , step S20 further includes steps S201 to S204:

[0096] Step S201: determining target edges on the left side and the right side of the road according to the classification result, and obtaining edge coefficients of the target edges;

[0097] It should be noted that the road edge scene has lane lines and curbs, and one of them needs to be determined as the target edge according to different situations.

[0098] In a feasible manner, the step of determining the target edges on the left side and the right side of the road according to the classification result includes:

[0099] When the classification result shows that there is only a lane line on the left side of the vehicle and only a curb on the right side, the left lane line is determined as the left target edge, and the right lane line is determined as the right target edge;

[0100] When the classification result shows that there is only a lane line on the left side of the vehicle and there are both a lane line and a curb on the right side, the left lane line is determined as the left target edge, and the right target edge is determined based on the distance between the right lane line and the right curb;

[0101] When the classification result shows that there is only a curb on the right side of the vehicle and no lane line or curb on the left side, the right curb is determined as the right target edge, and there is no left target edge;

[0102] When the classification result shows that there are both a lane line and a curb with a spacing less than a preset value on the right side of the vehicle and no lane line or curb on the left side, the right lane line is determined as the right target edge, and there is no left target edge;

[0103] When the classification result is that there are lane lines and curbs with a spacing of not less than a preset value on the right side of the vehicle and no lane lines or curbs on the left side, the right curb is determined as the right target edge and there is no left target edge.

[0104] It is understandable that the road edge scenario 1 is that there is only a lane line on the left side of the vehicle and only a curb on the right side. Figure 6 , Figure 6 This is a schematic diagram of trajectory planning for the road edge scenario. Ego represents the vehicle, the dashed line represents the lane line, and the solid line represents the road edge. When the left lane line quality LaneLeft_Quality is greater than 0 and the right road edge quality EdgeRight_Quality is greater than 0, the left lane line is used as the reference line to obtain the lateral distance lane_offset_left and the lateral distance edge_offset_right of the vehicle relative to the left lane line and the right road edge, respectively:

[0105] lane_offset_left=c0_lane_left*cos(-actan(c1_lane_left))

[0106] edge_offset_right=c0_roadedge_right*cos(-actan(c1_roadedge_right))

[0107] Among them, c0_lane_left is the coefficient c0 of the left lane line curve, which represents the lateral distance from the center of the vehicle to the lane line, c1_lane_left is the coefficient c1 of the left lane line curve, which represents the vehicle heading angle at the starting point, c0_roadedge_right is the coefficient c0 of the right road edge curve, and c1_roadedge_right is the coefficient c1 of the right road edge curve. The distance lat_dist_lane_edge between the lane line and the road edge can be obtained as:

[0108] lat_dist_lane_edge=edge_offset_right-lane_offset_left

[0109] The lateral deviation delta_lat_posn between the starting point and the end point of the planned trajectory can be calculated:

[0110] delta_lat_posn=-(lat_dist_lane_edge+lane_offset_left+extra_margin_end_offset)

[0111] Roadside scene: the lateral velocity v0 of the starting point and the lateral velocity v of the ending point are known. e , the lateral acceleration at the starting point is a0, the lateral acceleration at the end point is a e , the lateral velocity difference d between the end point and the starting point v =v e -v0, the lateral deviation d between the starting point and the end point of the planned trajectory p =delta_lat_posn, the planned trajectory of the road edge scenario 1 can be obtained.

[0112] Consider the road edge scenario 2 where there is only a lane line on the left side of the vehicle and both a lane line and a curb on the right side. Figure 7 , Figure 7 This is a schematic diagram of trajectory planning for the second road edge scenario. Ego represents the vehicle, the dashed line represents the lane line, and the solid line represents the road edge. There are two cases: when the left lane line quality LaneLeft_Quality is greater than 0, the right lane line quality LaneRight_Quality is greater than 0, and the right road edge quality EdgeRight_Quality is greater than 0, and:

[0113] |c0_lane_right-c0_roadedge_right|<=Cal_k_ELK_LaneEdgeLateralError

[0114] Among them, c0_lane_right is the right lane line coefficient c0, c0_roadedge_right is the right road edge coefficient c0, Cal_k_ELK_LaneEdgeLateralError is the distance threshold between the right lane line coefficient c0_lane_right and the right road edge coefficient c0_roadedge_right. At this time, the right lane line is actually regarded as the real road edge and offset by a certain lateral displacement

[0115] Cal_k_ELK_LaneOffset, that is, the road edge related parameters are as follows:

[0116] c0_roadedge_right=c0_lane_right-Cal_k_ELK_LaneOffset

[0117] c1_roadedge_right=c1_lane_right

[0118] c2_roadedge_right=c2_lane_right

[0119] c3_roadedge_right=c3_lane_right

[0120] Among them, c0_lane_right is the right lane line coefficient c0, c1_lane_right is the right lane line coefficient c1, c2_lane_right is the right lane line coefficient c2, and c3_lane_right is the right lane line coefficient c3; c0_roadedge_right is the right road edge coefficient c0, c1_roadedge_right is the right road edge coefficient c1, c2_roadedge_right is the right road edge coefficient c2, and c3_roadedge_right is the right road edge coefficient c3.

[0121] Then we can obtain the lateral distance lane_offset_right of the vehicle relative to the left lane line and the lateral distance edge_offset_right of the vehicle relative to the right road edge:

[0122] lane_offset_left=c0_lane_left*cos(-actan(c1_lane_left))

[0123] edge_offset_right=c0_roadedge_right*cos(-actan(c1_roadedge_right))

[0124] Since the lane line has high quality and good stability, the left lane line is used as the reference line, and the distance lat_dist_lane_edge between the lane line and the road edge can be obtained as:

[0125] lat_dist_lane_edge=edge_offset_right-lane_offset_left

[0126] The lateral deviation delta_lat_posn between the starting point and the end point of the planned trajectory can be calculated:

[0127] delta_lat_posn=-(lat_dist_lane_edge+lane_offset_left+extra_margin_end_offset)

[0128] When the left lane quality LaneLeft_Quality is greater than 0, the right lane quality LaneRight_Quality is greater than 0, the right road edge quality EdgeRight_Quality is greater than 0, and:

[0129] |c0_lane_right-c0_roadedge_right|>Cal_k_ELK_LaneEdgeLateralError

[0130] At this time, the right road edge is regarded as the actual road edge, and the right lane line is regarded as non-existent. The relevant parameters of the road edge are as follows:

[0131] c0_lane_right=0

[0132] c1_lane_right=0

[0133] c2_lane_right=0

[0134] c3_lane_right=0

[0135] At this time, since the lane line is of high quality and good stability, the left lane line is used as the reference line to calculate the lateral deviation delta_lat_posn between the starting point and the end point of the planned trajectory:

[0136] delta_lat_posn=-(lat_dist_lane_edge+lane_offset_left+extra_margin_end_offset)

[0137] Roadside scene 2: The starting point lateral velocity v0 and the ending point lateral velocity ve , the lateral acceleration at the starting point is a0, the lateral acceleration at the end point is a e , the lateral velocity difference d between the end point and the starting point v =v e -v0, the lateral deviation d between the starting point and the end point of the planned trajectory p =delta_lat_posn, the planned trajectory of the road edge scenario 2 can be obtained.

[0138] Consider the road edge scenario 3 where there is only a curb on the right side of the vehicle and no lane line or curb on the left side. Figure 8 , Figure 8 This is a schematic diagram of trajectory planning for the road edge scenario three. Ego represents the vehicle, the dotted line represents the lane line, and the solid line represents the road edge.

[0139] At this time, when only the right road edge quality EdgeRight_Quality is greater than 0, the lateral deviation delta_lat_posn between the starting point and the end point of the planned trajectory can be calculated:

[0140] delta_lat_posn=-(edge_offset_right+extra_margin_end_offset)

[0141] Among them, edge_offset_right is the distance from the vehicle to the right edge of the road.

[0142] Roadside scene 3: The starting point lateral velocity is 0, and the ending point lateral velocity is v e , the lateral acceleration at the starting point is a0, the lateral acceleration at the end point is a e , the lateral velocity difference d between the end point and the starting point v =v e -v0, the lateral deviation d between the starting point and the end point of the planned trajectory p =delta_lat_posn, the planned trajectory for the road edge scenario three can be obtained.

[0143] The fourth road edge scenario is where only lane lines exist on the left side of the vehicle and both lane lines and curbs exist on the right side. Figure 9 , Figure 9 This is a schematic diagram of trajectory planning for road edge scenario four. Ego represents the vehicle, dotted lines represent lane lines, and solid lines represent the road edge.

[0144] At this time, when the right lane line quality LaneLeft_Quality is greater than 0, the right road edge quality EdgeRight_Quality is greater than 0, and:

[0145] |c0_lane_right-c0_roadedge_right|<=Cal_k_ELK_LaneEdgeLateralError

[0146] The right lane line is actually regarded as the real road edge, and a certain lateral displacement Cal_k_ELK_LaneOffset is offset. That is, the road edge related parameters are as follows:

[0147] c0_roadedge_right=c0_lane_right-Cal_k_ELK_LaneOffset

[0148] c1_roadedge_right=c1_lane_right

[0149] c2_roadedge_right=c2_lane_right

[0150] c3_roadedge_right=c3_lane_right

[0151] Since the lane markings are of high quality and good stability, the left lane marking is used as the reference line to obtain the lateral distance edge_offset_right of the vehicle relative to the right road edge:

[0152] edge_offset_right=c0_roadedge_right*cos(-actan(c1_roadedge_right))

[0153] The lateral deviation delta_lat_posn between the starting point and the end point of the planned trajectory can be calculated:

[0154] delta_lat_posn=-(edge_offset_right+extra_margin_end_offset)

[0155] Roadside scene 4: The starting point lateral velocity v0 and the ending point lateral velocity v e , the lateral acceleration at the starting point is a0, the lateral acceleration at the end point is a e , the lateral velocity difference d between the end point and the starting point v =v e -v0, the lateral deviation d between the starting point and the end point of the planned trajectory p =delta_lat_posn, the planned trajectory of the road edge scenario 4 can be obtained.

[0156] The road edge scenario 5 is where only lane lines exist on the left side of the vehicle and both lane lines and curb exist on the right side. Figure 10 , Figure 10 This is a schematic diagram of trajectory planning for road edge scenario five. Ego represents the vehicle, dotted lines represent lane lines, and solid lines represent the road edge.

[0157] When the right lane line quality LaneLeft_Quality is greater than 0, the right road edge quality EdgeRight_Quality is greater than 0, and:

[0158] |c0_lane_right-c0_roadedge_right|>Cal_k_ELK_LaneEdgeLateralError

[0159] Treat the right road edge as the actual road edge and the right lane line as non-existent to avoid premature activation of the road edge scene. The lateral deviation delta_lat_posn between the start and end points of the planned trajectory can be calculated:

[0160] delta_lat_posn=-(edge_offset_right+extra_margin_end_offset)

[0161] Roadside scene 5: The starting point lateral velocity v0 and the ending point lateral velocity v e , the lateral acceleration at the starting point is a0, the lateral acceleration at the end point is a e , the lateral velocity difference d between the end point and the starting point v =v e -v0, the lateral deviation d between the starting point and the end point of the planned trajectory p =delta_lat_posn, the planned trajectory of the road edge scenario 5 can be obtained.

[0162] Step S202: obtaining the lateral distance between the vehicle and the target edge;

[0163] It should be noted that after determining the target edge of the road edge scene, the lateral distance between the vehicle and the target edge can be directly obtained for subsequent calculations. The lateral distance here can include the lateral distance between the vehicle and the left target edge and the lateral distance between the vehicle and the right target edge.

[0164] Step S203: obtaining a preset lateral offset between the end point of the planned trajectory and the target edge;

[0165] It is understandable that the preset lateral offset of the planned trajectory endpoint from the target edge is an important parameter for calculating the trajectory planning. In order to cope with the lateral correction capability of the ELK function at different lateral speeds, this embodiment uses the lateral offset extra_margin_end_offset of the planned trajectory endpoint from the road edge as a calibration value, which is related to the lateral speed of the vehicle relative to the road edge. The lateral offset extra_margin_end_offset of the planned trajectory endpoint from the road edge is obtained by one-dimensional table interpolation. The specific relationship is as follows:

[0166] vlat_elka_edge=max(abs(vlat_left_edge),abs(vlat_right_edge))

[0167] extra_margin_end_offset=Interp(vlat_elka_edge,InterpX,InterpY,size_of_table)

[0168] Among them, vlat_left_edge and vlat_right_edge are the lateral speed of the vehicle relative to the left edge of the road and the lateral speed of the vehicle relative to the right edge of the road, respectively. vlat_elka_edge is the maximum lateral speed of the vehicle relative to the left and right edges of the road. It is also the input of the one-dimensional interpolation lookup table. The dimension size_of_table of the one-dimensional interpolation lookup table query value is 3. The input query value lateral speed is [vlat_value1, vlat_value2, vlat_value3], and the corresponding output query value is: [extra_margin_value1, extra_margin_value2, extra_margin_value3].

[0169] Step S204: determining a target lateral deviation between a starting point and an end point of trajectory planning according to the edge coefficient, the lateral distance, and the preset lateral offset.

[0170] After the lateral distance is obtained, the target lateral deviation between the starting point and the end point of the trajectory planning can be determined according to the edge coefficient, the lateral distance, and the preset lateral offset.

[0171] This embodiment determines target edges on the left and right sides of the road based on the classification results and obtains edge coefficients of the target edges; obtains a lateral distance between the vehicle and the target edge; obtains a preset lateral offset between the end point of trajectory planning and the target edge; and determines a target lateral deviation between the start and end point of trajectory planning based on the edge coefficients, the lateral distance, and the preset lateral offset.

[0172] In summary, this embodiment determines the lateral distance between the vehicle and the road edge in different situations based on the classification results of the road edge scene, so as to facilitate subsequent trajectory planning, thereby improving the stability of the trajectory planning results for emergency lane keeping.

[0173] This application also provides a trajectory planning device for emergency lane keeping based on Bezier curves, please refer to Figure 11 The trajectory planning device for emergency lane keeping based on Bezier curve includes:

[0174] The classification module 10 is used to obtain a roadside scene and classify the roadside scene to obtain a classification result;

[0175] A determination module 20 is configured to determine a target lateral deviation between a starting point and an end point of the trajectory planning according to the classification result;

[0176] An acquisition module 30 is configured to acquire starting point parameters and end point parameters of the trajectory planning, wherein the starting point parameters include at least a starting point lateral acceleration, and the end point parameters include at least an end point lateral acceleration;

[0177] The planning module 40 is configured to perform emergency lane keeping trajectory planning using the target lateral deviation, the starting point parameter, and the ending point parameter as parameters of a Bezier curve to obtain a target planned trajectory.

[0178] This embodiment obtains a road edge scene and classifies the road edge scene to obtain a classification result; determines a target lateral deviation between a starting point and an end point of trajectory planning based on the classification result; obtains starting point parameters and end point parameters of the trajectory planning, wherein the starting point parameters include at least a starting point lateral acceleration, and the end point parameters include at least an end point lateral acceleration; uses the target lateral deviation, the starting point parameters, and the end point parameters as parameters of a Bezier curve to perform trajectory planning for emergency lane keeping, thereby obtaining a target planned trajectory.

[0179] In summary, this embodiment combines various situations of road edge scenes and performs targeted emergency lane keeping trajectory planning using Bezier curves, thereby improving the stability of the emergency lane keeping trajectory planning results.

[0180] In one embodiment, the determination module 20 is further used to determine the target edges on the left side and the right side of the road based on the classification results, and obtain the edge coefficient of the target edge; obtain the lateral distance between the vehicle and the target edge; obtain the preset lateral offset of the end point of trajectory planning from the target edge; and determine the target lateral deviation between the starting point and the end point of trajectory planning based on the edge coefficient, the lateral distance and the preset lateral offset.

[0181] In one embodiment, the determination module 20 is further configured to, when the classification result shows that there is only a lane line on the left side of the vehicle and only a curb on the right side, determine the left lane line as the left target edge and the right lane line as the right target edge; when the classification result shows that there is only a lane line on the left side of the vehicle and both a lane line and a curb on the right side, determine the left lane line as the left target edge, and determine the right target edge based on the distance between the right lane line and the right curb; when the classification result shows that there is only a curb on the right side of the vehicle and no lane line or curb on the left side, determine the right curb as the right target edge, and no left target edge; when the classification result shows that there are both a lane line and a curb on the right side of the vehicle with an interval less than a preset value and no lane line or curb on the left side, determine the right lane line as the right target edge and no left target edge; when the classification result shows that there are both a lane line and a curb on the right side of the vehicle with an interval not less than a preset value and no lane line or curb on the left side, determine the right curb as the right target edge and no left target edge.

[0182] In one embodiment, the determination module 20 is further used to obtain a left lateral speed of the vehicle relative to a target edge on the left side of the road, a right lateral speed of the vehicle relative to a target edge on the right side of the road, a maximum left lateral speed of the vehicle relative to the target edge on the left side of the road, and a maximum right lateral speed of the vehicle relative to the target edge on the right side of the road; and determine a preset lateral offset of the target edge based on the left lateral speed, the right lateral speed, the maximum left lateral speed, and the maximum right lateral speed.

[0183] In one embodiment, the planning module 40 is further used to determine a lateral acceleration Bezier curve through the target lateral deviation, the starting point parameter and the end point parameter; integrate the lateral acceleration Bezier curve twice to obtain a lateral displacement Bezier curve, and obtain the target planning trajectory.

[0184] In one embodiment, the planning module 40 is further used to determine the starting point and end point of the lateral acceleration Bezier curve based on the starting point parameter and the end point parameter; and determine the lateral acceleration Bezier curve based on the curve starting point, the curve end point and the target lateral deviation.

[0185] In one embodiment, the planning module 40 is further used to calculate the lateral acceleration of the end point of the first Bezier curve, the lateral speed difference of the first Bezier curve, and the lateral speed difference of the second Bezier curve through the starting point of the curve, the end point of the curve, and the target lateral deviation; and determine the lateral acceleration Bezier curve based on the lateral acceleration of the end point, the lateral speed difference of the first Bezier curve, and the lateral speed difference of the second Bezier curve.

[0186] The Bezier curve-based trajectory planning device for emergency lane keeping provided in this application adopts the Bezier curve-based trajectory planning method for emergency lane keeping in the above-mentioned embodiment, which can solve the technical problem of how to improve the stability of the trajectory planning results for emergency lane keeping. Compared with the prior art, the beneficial effects of the Bezier curve-based trajectory planning device for emergency lane keeping provided in this application are the same as the beneficial effects of the Bezier curve-based trajectory planning method for emergency lane keeping provided in the above-mentioned embodiment, and the other technical features of the Bezier curve-based trajectory planning device for emergency lane keeping are the same as the features disclosed in the above-mentioned embodiment method, and are not further described here.

[0187] The present application provides a trajectory planning device for emergency lane keeping based on Bezier curves. The trajectory planning device for emergency lane keeping based on Bezier curves includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the trajectory planning method for emergency lane keeping based on Bezier curves in the above-mentioned embodiment one.

[0188] Reference below Figure 12 , which shows a schematic structural diagram of a trajectory planning device suitable for implementing Bezier curve-based emergency lane keeping in an embodiment of the present application. The Bezier curve-based emergency lane keeping trajectory planning device in an embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 12 The illustrated Bezier curve-based emergency lane keeping trajectory planning device is merely an example and should not limit the functionality and scope of use of the embodiments of the present application.

[0189] like Figure 12As shown, the trajectory planning device for emergency lane keeping based on Bezier curves may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the trajectory planning device for emergency lane keeping based on Bezier curves are also stored in RAM1004. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the trajectory planning device for emergency lane keeping based on Bezier curves to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a trajectory planning device for emergency lane keeping based on Bezier curves with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0190] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0191] The Bezier curve-based trajectory planning device for emergency lane keeping provided in this application, which employs the Bezier curve-based trajectory planning method for emergency lane keeping in the aforementioned embodiment, can solve the technical problem of how to improve the stability of trajectory planning results for emergency lane keeping. Compared to the prior art, the beneficial effects of the Bezier curve-based trajectory planning device for emergency lane keeping provided in this application are the same as those of the Bezier curve-based trajectory planning method for emergency lane keeping provided in the aforementioned embodiment. The other technical features of the Bezier curve-based trajectory planning device for emergency lane keeping are the same as those disclosed in the method of the aforementioned embodiment, and are not further elaborated here.

[0192] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0193] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0194] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, and the computer-readable program instructions are used to execute the trajectory planning method for emergency lane keeping based on Bezier curves in the above-mentioned embodiment.

[0195] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0196] The computer-readable storage medium may be included in the trajectory planning device for emergency lane keeping based on Bezier curves, or may exist independently without being assembled into the trajectory planning device for emergency lane keeping based on Bezier curves.

[0197] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by a trajectory planning device for emergency lane keeping based on a Bezier curve, the trajectory planning device for emergency lane keeping based on a Bezier curve: obtains a road edge scene, and classifies the road edge scene to obtain a classification result; determines the target lateral deviation between the starting point and the end point of the trajectory planning according to the classification result; obtains the starting point parameters and the end point parameters of the trajectory planning, the starting point parameters at least including the starting point lateral acceleration, and the end point parameters at least including the end point lateral acceleration; uses the target lateral deviation, the starting point parameters and the end point parameters as parameters of the Bezier curve to perform trajectory planning for emergency lane keeping to obtain a target planning trajectory.

[0198] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0199] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0200] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0201] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned Bezier curve-based trajectory planning method for emergency lane keeping. This computer-readable storage medium addresses the technical problem of improving the stability of trajectory planning results for emergency lane keeping. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the Bezier curve-based trajectory planning method for emergency lane keeping provided in the aforementioned embodiments, and are not further elaborated here.

[0202] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned Bezier curve-based emergency lane keeping trajectory planning method.

[0203] The computer program product provided in this application can solve the technical problem of improving the stability of trajectory planning results for emergency lane keeping. Compared to the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the Bezier curve-based trajectory planning method for emergency lane keeping provided in the aforementioned embodiment, and will not be further elaborated here.

[0204] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A trajectory planning method for emergency lane keeping based on Bezier curve, characterized in that: The method includes: Acquire a roadside scene, and classify the roadside scene to obtain a classification result; Determine the target lateral deviation between the starting point and the end point of the trajectory planning according to the classification result; Acquire starting point parameters and end point parameters of the trajectory planning, wherein the starting point parameters include at least a starting point lateral acceleration, and the end point parameters include at least an end point lateral acceleration; Using the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to perform trajectory planning for emergency lane keeping, to obtain a target planned trajectory; The step of determining the target lateral deviation between the starting point and the end point of the trajectory planning according to the classification result includes: Determining target edges on the left side of the road and the right side of the road according to the classification result, and obtaining edge coefficients of the target edges; Obtaining a lateral distance between the vehicle and the target edge; Obtaining a preset lateral offset between the end point of the planned trajectory and the target edge; A target lateral deviation between a starting point and an end point of trajectory planning is determined according to the edge coefficient, the lateral distance, and the preset lateral offset.

2. The method according to claim 1, wherein The step of determining the target edges on the left side and the right side of the road according to the classification result includes: When the classification result shows that there is only a lane line on the left side of the vehicle and only a curb on the right side, the left lane line is determined as the left target edge, and the right lane line is determined as the right target edge; When the classification result shows that there is only a lane line on the left side of the vehicle and there are both a lane line and a curb on the right side, the left lane line is determined as the left target edge, and the right target edge is determined based on the distance between the right lane line and the right curb; When the classification result shows that there is only a curb on the right side of the vehicle and no lane line or curb on the left side, the right curb is determined as the right target edge, and there is no left target edge; When the classification result shows that there are both a lane line and a curb with a spacing less than a preset value on the right side of the vehicle and no lane line or curb on the left side, the right lane line is determined as the right target edge, and there is no left target edge; When the classification result is that there are lane lines and curbs with a spacing of not less than a preset value on the right side of the vehicle and no lane lines or curbs on the left side, the right curb is determined as the right target edge and there is no left target edge.

3. The method according to claim 1, wherein The step of obtaining a preset lateral offset between the end point of the trajectory planning and the target edge includes: Obtaining a left lateral speed of the vehicle relative to a target edge on the left side of the road, a right lateral speed of the vehicle relative to a target edge on the right side of the road, a maximum left lateral speed of the vehicle relative to the target edge on the left side of the road, and a maximum right lateral speed of the vehicle relative to the target edge on the right side of the road; A preset lateral offset of the target edge is determined according to the left lateral speed, the right lateral speed, the left lateral speed maximum value, and the right lateral speed maximum value.

4. The method according to claim 1, wherein The step of performing emergency lane keeping trajectory planning using the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to obtain a target planned trajectory includes: Determine a lateral acceleration Bezier curve according to the target lateral deviation, the starting point parameter, and the end point parameter; The lateral acceleration Bezier curve is integrated twice to obtain a lateral displacement Bezier curve, and the target planning trajectory is obtained.

5. The method according to claim 4, wherein The step of determining the lateral acceleration Bezier curve according to the target lateral deviation, the starting point parameter, and the end point parameter comprises: Determine a curve starting point and a curve end point of a lateral acceleration Bezier curve according to the starting point parameter and the end point parameter; A lateral acceleration Bezier curve is determined according to the curve starting point, the curve end point, and the target lateral deviation.

6. The method according to claim 5, wherein The step of determining the lateral acceleration Bezier curve according to the curve starting point, the curve end point and the target lateral deviation comprises: Calculating the lateral acceleration of the end point of the first Bezier curve, the lateral velocity difference of the first Bezier curve, and the lateral velocity difference of the second Bezier curve according to the curve starting point, the curve end point, and the target lateral deviation; A lateral acceleration Bezier curve is determined according to the end point lateral acceleration, the lateral velocity difference of the first Bezier curve segment, and the lateral velocity difference of the second Bezier curve segment.

7. A trajectory planning device for emergency lane keeping based on Bezier curve, characterized in that: The device comprises: A classification module, configured to obtain a roadside scene, classify the roadside scene, and obtain a classification result; a determination module, configured to determine a target lateral deviation between a starting point and an end point of trajectory planning based on the classification result; an acquisition module, configured to acquire the starting point parameters and the end point parameters of the trajectory planning, wherein the starting point parameters at least include the starting point lateral acceleration, and the end point parameters at least include the end point lateral acceleration; a planning module, configured to perform emergency lane keeping trajectory planning using the target lateral deviation, the starting point parameter, and the end point parameter as parameters of a Bezier curve to obtain a target planned trajectory; The step of determining the target lateral deviation between the starting point and the end point of the trajectory planning according to the classification result includes: Determining target edges on the left side of the road and the right side of the road according to the classification result, and obtaining edge coefficients of the target edges; Obtaining a lateral distance between the vehicle and the target edge; Obtaining a preset lateral offset between the end point of the planned trajectory and the target edge; A target lateral deviation between a starting point and an end point of trajectory planning is determined according to the edge coefficient, the lateral distance, and the preset lateral offset.

8. A trajectory planning device for emergency lane keeping based on Bezier curve, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the Bezier curve-based emergency lane keeping trajectory planning method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the trajectory planning method for emergency lane keeping based on Bezier curves according to any one of claims 1 to 6 is implemented.

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