Lane change path planning method and device, vehicle and computer program product

Abstract

The application relates to the technical field of vehicles, in particular to a lane-changing path planning method and device, a vehicle and a computer program product. The method comprises the following steps: if a current vehicle is in a ramp merging into a main road state, obtaining a current vehicle speed of the current vehicle, a longitudinal distance between the current vehicle and a target vehicle, a drivable distance of the current vehicle in the ramp, sampling multiple groups of path planning curves of the current vehicle based on the current vehicle speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp and a speed constraint condition of the target vehicle; calculating cost values of the multiple groups of path planning curves, taking a path planning curve with the minimum cost value as a target planning path curve, and controlling the current vehicle to overtake and merge into the main road or follow and merge into the main road in the ramp according to the target planning path curve. Therefore, the efficiency of path planning in the ramp merging into the main road scene is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a lane-changing path planning method and device, a vehicle and a computer program product. BACKGROUND

[0002] In the process of an autonomous vehicle merging from a ramp into a main road, the speed difference with the vehicles currently driving on the main road, the distance from the ramp to the merging point of the main road, and efficient and safe speed planning and path planning need to be considered. The usual method generally samples several candidate planning paths, sorts the candidate paths by calculating the cost function, and checks whether there will be a collision and whether the kinematic constraint condition is met from the candidate path with the lowest cost function, and finally selects an optimal planning path. This path planning algorithm is not suitable for the scenario of merging from a ramp into a main road, because there are many possible candidate paths in the scenario of merging from a ramp into a main road, and it is difficult to sample an efficient path in the scenario of merging from a ramp into a main road based on a polynomial or a Bezier curve. In addition, there is no effective decision for whether to overtake and merge or follow and merge when merging from a ramp into a main road.

[0003] In the prior art, document 1 discloses a lane-changing path planning method, device, vehicle and storage medium, generates a first lane-changing planning path from a first lane to a second lane according to a curvature limit condition of lane-changing, and optimizes the steering wheel parameter based on the lane-changing planning path. The first lane-changing planning path is selected based on a time-optimal algorithm, and the time-optimal algorithm is used to calculate a lane-changing path with the shortest time from the first lane to the second lane under the condition of satisfying the curvature limit condition.

[0004] However, document 1 adopts a lane-changing path with the shortest time, and this method is difficult to handle the scenario of a fast-moving target vehicle on the main road when the current vehicle merges from a ramp into a main road.

[0005] Document 2 discloses a lane-changing path planning method, device, electronic equipment and computer readable medium, determines a reference position of an obstacle through which a vehicle needs to pass when the vehicle is detouring the obstacle according to the position of the detected obstacle; estimates the end position of the vehicle detouring the obstacle through the positional relationship between the vehicle and the obstacle; determines the path of the vehicle detouring the obstacle based on the current position of the vehicle, the reference position of the obstacle and the end position.

[0006] However, the purpose of this path planning method is to bypass the obstacle, but in the scenario of merging from a ramp into a main road, the current vehicle needs to slow down and merge into the main road behind the passing vehicle on the main road in the case of insufficient lane-changing distance. SUMMARY

[0007] This application provides a lane change path planning method, device, vehicle, and computer program product to solve the problems that existing solutions cannot sample efficient and safe planned paths in the scenario of merging from a ramp into the main road, and cannot make quick and effective decisions between overtaking and following.

[0008] The first aspect of this application provides a lane-changing path planning method, including the following steps: determining whether the current vehicle is in a state before merging into the main road from an ramp; if the current vehicle is in a state before merging into the main road from an ramp, obtaining the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle within the ramp; sampling multiple sets of path planning curves for the current vehicle based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle within the ramp, and the speed constraint of the target vehicle; calculating the cost value of the multiple sets of path planning curves, and taking the path planning curve with the minimum cost value as the target planning path curve, so as to control the current vehicle to overtake and merge into the main road or follow another vehicle into the main road within the ramp according to the target planning path curve.

[0009] Optionally, when controlling the current vehicle to overtake and merge into the main road or follow another vehicle into the main road within the ramp according to the target planned path curve, the method includes: if the current vehicle reaches the end of the target planned path curve, then planning the lane-changing trajectory curve for the current vehicle to merge into the main road based on the lateral distance between the current vehicle and the target lane and the speed of the current vehicle.

[0010] Optionally, when controlling the current vehicle to overtake and merge into the main road or follow another vehicle into the main road within the ramp according to the target planned path curve, the method includes: monitoring whether there are other vehicles suddenly entering the lane change trajectory on the target planned path curve; if other vehicles suddenly entering the lane change trajectory are detected, the current lane change operation is immediately stopped, and a new path planning curve is re-planned based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle within the ramp, and the current vehicle is controlled to travel according to the new path planning curve.

[0011] Optionally, calculating the cost values ​​of the multiple sets of path planning curves includes: calculating the cost values ​​of the multiple sets of path planning curves using a preset cost function, wherein the preset cost function is:

[0012] C = w0d safe +w1a y ;

[0013] Where, d safe For each planned path, the projection of the distance between the end point and the safety distance line onto the s-axis, ay This represents the maximum lateral acceleration of the vehicle as it travels to its limit position within the ramp and begins to change lanes onto the main road. w0 has a positive weight, and w1 has a negative weight.

[0014] A second aspect of this application provides a lane-changing path planning device, comprising: a judgment module for judging whether a current vehicle is in a state before merging into a main road from an on-ramp; an acquisition module for acquiring, if the current vehicle is in a state before merging into a main road from an on-ramp, the current vehicle's current speed, the longitudinal distance between the current vehicle and a target vehicle, and the current vehicle's drivable distance within the on-ramp; a sampling module for sampling multiple sets of path planning curves for the current vehicle based on the current vehicle's current speed, the longitudinal distance between the current vehicle and the target vehicle, the current vehicle's drivable distance within the on-ramp, and the target vehicle's speed constraint; and a planning module for calculating the cost values ​​of the multiple sets of path planning curves and using the path planning curve with the minimum cost value as the target planning path curve, so as to control the current vehicle to overtake and merge into the main road or follow another vehicle into the main road within the on-ramp according to the target planning path curve.

[0015] Optionally, when the current vehicle is controlled to overtake and merge into the main road or follow another vehicle into the main road within the ramp according to the target planned path curve, the planning module is further configured to: if the current vehicle reaches the end of the target planned path curve, then plan the lane change trajectory curve for the current vehicle to merge into the main road based on the lateral distance between the current vehicle and the target lane and the speed of the current vehicle.

[0016] Optionally, when controlling the current vehicle to overtake and merge into the main road or follow another vehicle into the main road within the ramp according to the target planned path curve, the planning module is further configured to: monitor whether there are other vehicles suddenly entering the lane-changing trajectory on the target planned path curve; if other vehicles suddenly entering the lane-changing trajectory are detected, the current lane-changing operation is immediately stopped, and a new path planning curve is re-planned based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle within the ramp, and the current vehicle is controlled to travel according to the new path planning curve.

[0017] Optionally, the planning module, in calculating the cost values ​​of the multiple sets of path planning curves, is further configured to: calculate the cost values ​​of the multiple sets of path planning curves using a preset cost function, wherein the preset cost function is:

[0018] C = w0d safe +w1a y ;

[0019] Where, d safea is the projection of the end of each planned path and the safety distance line on the s-axis, y w0 is a positive weight, and w1 is a negative weight.

[0020] A third aspect of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the lane-changing path planning method according to the above-mentioned embodiments.

[0021] A fourth aspect of the present application provides a computer program product, which stores a computer program, and the program is executed by a processor to implement the lane-changing path planning method according to the above-mentioned embodiments.

[0022] In the above-mentioned embodiments, it is determined whether the current vehicle is in a state before the ramp merges into the main road; if the current vehicle is in the state before the ramp merges into the main road, the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle in the ramp are obtained, a plurality of path planning curves of the current vehicle are sampled based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and the speed constraint condition of the target vehicle, the cost values of the plurality of path planning curves are calculated, the path planning curve with the minimum cost value is taken as a target planning path curve, and the current vehicle is controlled to overtake and merge into the main road or follow and merge into the main road in the ramp according to the target planning path curve. Thus, the existing scheme cannot sample an efficient and safe planning path in the ramp merging into the main road scene, and cannot quickly and effectively make a decision between overtaking and merging and following and merging, and the like, and the efficiency of path planning in the ramp merging into the main road scene is improved.

[0023] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein:

[0025] Figure 1 A flowchart of a lane-changing path planning method according to an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a ramp merging into a main road scene according to an embodiment of the present application;

[0027] Figure 3A schematic diagram of ramp merging into a main road scene path planning according to an embodiment of the present application;

[0028] Figure 4 An example diagram of a lane change path planning device according to an embodiment of the present application;

[0029] Figure 5 A schematic diagram of a vehicle structure according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar components have the same or similar designations and functions throughout. The embodiments described below are examples in which the present application is applied to explain the present application and should not be construed as limiting the present application.

[0031] A lane change path planning method, device, vehicle and computer program product according to an embodiment of the present application are described below with reference to the accompanying drawings. In view of the fact that the existing solutions mentioned in the background art cannot sample an efficient and safe planning path in a ramp merging into a main road scene, and cannot smoothly make a quick and effective decision between overtaking and merging into a main road, the present application provides a lane change path planning method, in which it is determined whether a current vehicle is in a ramp merging into a main road state; if the current vehicle is in the ramp merging into a main road state, the current speed of the current vehicle, the longitudinal distance between the current vehicle and a target vehicle, and the drivable distance of the current vehicle in the ramp are obtained, and a plurality of sets of path planning curves of the current vehicle are sampled based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and the speed constraint condition of the target vehicle; the cost values of the plurality of sets of path planning curves are calculated, and the path planning curve with the minimum cost value is taken as a target planning path curve, so as to control the current vehicle to overtake and merge into a main road or follow and merge into a main road in the ramp according to the target planning path curve. Thus, the problem that the existing solutions cannot sample an efficient and safe planning path in a ramp merging into a main road scene, and cannot smoothly make a quick and effective decision between overtaking and merging into a main road is solved, and the efficiency of path planning in a ramp merging into a main road scene is improved.

[0032] Specifically, Figure 1 A flowchart of a lane change path planning method according to an embodiment of the present application is shown in FIG. 1.

[0033] As shown in FIG. 1, the lane change path planning method includes the following steps: Figure 1

[0034] In step S101, it is determined whether a current vehicle is in a ramp merging into a main road state.

[0035] ​In step S102, if the current vehicle is in the state before merging into the main road from the ramp, the current vehicle speed, the longitudinal distance between the current vehicle and the target vehicle, and the driving distance of the current vehicle within the ramp are obtained.

[0036] In step S103, multiple path planning curves of the current vehicle are sampled based on the current vehicle speed, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and the speed constraint of the target vehicle.

[0037] In step S104, the cost values ​​of multiple sets of path planning curves are calculated, and the path planning curve with the minimum cost value is taken as the target planning path curve. Based on the target planning path curve, the current vehicle is controlled to overtake and merge into the main road or follow the vehicle into the main road within the ramp.

[0038] Optionally, in some embodiments, calculating the cost values ​​of multiple sets of path planning curves includes: calculating the cost values ​​of multiple sets of path planning curves using a preset cost function, wherein the preset cost function is:

[0039] C = w0d safe +w1a y ;

[0040] Where, d safe For each planned path, the projection of the distance between the end point and the safety distance line onto the s-axis, a y This represents the maximum lateral acceleration of the vehicle as it travels to its limit position within the ramp and begins to change lanes onto the main road. w0 has a positive weight, and w1 has a negative weight.

[0041] Furthermore, in some embodiments, after controlling the current vehicle to overtake or merge into the ramp according to the target planned path curve, the method includes: if the current vehicle reaches the end of the target planned path curve, then planning the lane change trajectory curve for the current vehicle to merge into the main road based on the lateral distance between the current vehicle and the target lane and the speed of the current vehicle.

[0042] Specifically, such as Figure 2 The scenario shown depicts a ramp merging into the main road. The current vehicle is traveling on the ramp, while the target vehicle is traveling on the main road. The longitudinal distance between the current and target vehicles is Δs, and the current vehicle's travel distance within the ramp is s. c This means that vehicles exceeding this distance must merge into the main road, otherwise a collision will occur.

[0043] Figure 2 This is the path planning algorithm proposed in this application. In the figure, the horizontal axis represents time, the vertical axis represents the longitudinal displacement of the current vehicle in the Frenet coordinate system, the shaded bar represents the space occupied by the target vehicle in the Frenet coordinate system, and the rectangle at the top represents the drivable distance s. c.

[0044] The path planning of the current vehicle needs to ensure that the overtaking or merging decision must be completed within s c To achieve this purpose, the minimum lane-changing distance of the current vehicle is set, which represents the minimum lane-changing distance of the current vehicle to successfully merge into the main road under the condition of ensuring kinematic constraints after driving in the ramp for a period of time, and the minimum lane-changing distance is proportional to the speed of the current vehicle, that is, the faster the speed of the current vehicle, the larger the minimum lane-changing distance reserved. At the same time, the minimum safety distance is set, that is, the minimum safety distance must be left to prevent the target vehicle from rear-ending when the current vehicle overtakes and merges into the main road.

[0045] According to the current speed of the current vehicle, a set of speed constraint conditions V1>V2>V3>V4>V5 of the target vehicle is set, and 5 groups of s-t curves s-t1, s-t2, s-t3, s-t4 and s-t5 are sampled under the premise of satisfying the kinematic constraints, the slope of each point on the 5 groups of curves represents the speed of the current vehicle at the corresponding time. According to the setting principle of the minimum lane-changing distance, under the path planning of s-t1, the current vehicle overtakes the target vehicle at a faster speed, and a larger minimum lane-changing distance must be left to ensure that no collision occurs. The path planning curves s-t1, s-t2 and s-t3 sampled in the three groups can realize overtaking and merging, while the path planning curve s-t4 cannot realize overtaking and merging because the current vehicle accelerates slowly after overtaking the target vehicle, and the minimum lane-changing distance and the minimum safety distance are not enough. The path planning curve s-t5 also ensures the safety of passing through because the current vehicle follows the target vehicle at a slower speed and then merges into the main road.

[0046] Figure 3 The shaded bar in the s-t curve is drawn by considering that the target vehicle travels at a constant speed, if the target vehicle does not travel at a constant speed, the shaded bar can also be drawn according to the curve, the present application only takes the target vehicle traveling at a constant speed as a specific embodiment for illustration, which does not constitute a limitation on the protection scope of the present application

[0047] Figure 3 The feasible path planning in the s-t curve has s-t1, s-t2 and s-t3, the present application proposes to further screen the three candidate planning paths through a preset cost function, wherein, d safe is the projection of the distance between the end of each planning path and the safety distance line on the s-axis, d safe The larger the d yThe maximum lateral acceleration in the process of starting to change lanes from the ramp to the main road when the current vehicle drives to the extreme position in the ramp is large when the vehicle speed is fast, which is not conducive to the lateral stability of the vehicle. w0 and w1 are the full values of each term, the former is a positive weight, and the latter is a negative weight. Among all the candidate s-t path planning curves, the curve with the minimum cost function value is selected as the final planning path curve.

[0048] When the current vehicle completes the path planning in the ramp, it drives according to the optimal s-t curve and reaches the end of the s-t curve. Based on the lateral distance between the current vehicle and the target lane and the speed of the current vehicle, a trajectory curve for changing lanes is planned. Since the current vehicle has completed the decision of overtaking or following in the ramp in the previous step, only the conventional lane changing path planning operation is needed when merging into the main road, without considering obstacles.

[0049] Therefore, the application divides the path planning of merging the ramp into the main road into longitudinal speed planning and lateral planning, and completes the decision of overtaking or following in the main road in the longitudinal path planning stage, thereby improving the efficiency of path planning.

[0050] Optionally, in some embodiments, when controlling the current vehicle to overtake or follow in the main road in the ramp according to the target planning path curve, it includes: monitoring whether there is another vehicle suddenly entering the lane change trajectory on the target planning path curve; if it is monitored that there is another vehicle suddenly entering the lane change trajectory, immediately stop executing the current lane change operation, and re-plan a new path planning curve based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the remaining drivable distance of the current vehicle in the ramp, and control the current vehicle to drive according to the new path planning curve.

[0051] It can be understood that in the process of executing overtaking or following operation, whether there is another vehicle suddenly entering the lane change trajectory on the target planning path curve is monitored in real time by using vehicle-mounted sensors (such as radar, camera) and vehicle networking technology.

[0052] If it is monitored that there is another vehicle suddenly entering the lane change trajectory, and the vehicle poses a potential threat to the lane change operation of the current vehicle, the current lane change operation is immediately stopped. At the same time, an emergency handling mechanism is started, and the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the remaining drivable distance of the current vehicle in the ramp are re-evaluated.

[0053] Based on the above evaluation results, a new path planning curve is re-planned, which should avoid potential dangerous areas and ensure the vehicle can continue to drive safely and smoothly.

[0054] The current vehicle is controlled to follow the new path planning curve. During the adjustment of the path, continuous monitoring of the surrounding environment is maintained to ensure that the vehicle can flexibly respond to new dynamic changes that may occur.

[0055] After completing the lane changing operation, relevant data collected during the path planning and execution process (such as vehicle state, traffic conditions, number of path adjustments, etc.) are used for optimization and improvement of subsequent path planning algorithms.

[0056] According to the lane changing path planning method proposed in the embodiments of the present application, it is determined whether the current vehicle is in a state of approaching a main road from a ramp; if the current vehicle is in a state of approaching a main road from a ramp, the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle in the ramp are obtained, and based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and the speed constraint condition of the target vehicle, a plurality of path planning curves of the current vehicle are sampled; the cost values of the plurality of path planning curves are calculated, and the path planning curve with the minimum cost value is taken as the target planning path curve, so as to control the current vehicle to overtake and enter the main road or follow and enter the main road in the ramp according to the target planning path curve. Thus, the problem that the existing scheme cannot sample an efficient and safe planning path in the scene of approaching a main road from a ramp, and cannot quickly and effectively make decisions between overtaking and entering and following and entering is solved, and the efficiency of path planning in the scene of approaching a main road from a ramp is improved.

[0057] Secondly, the lane changing path planning device according to the embodiments of the present application is described with reference to the accompanying drawings.

[0058] Figure 4 is a block schematic diagram of the lane changing path planning device according to the embodiments of the present application.

[0059] As Figure 4 shown, the lane changing path planning device 10 includes a judgment module 100, an acquisition module 200, a sampling module 300, and a planning module 400.

[0060] The judgment module 100 is configured to judge whether the current vehicle is in a state of before the ramp merges into the main road; the acquisition module 200 is configured to acquire the current vehicle speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle in the ramp, if the current vehicle is in the state of before the ramp merges into the main road; the sampling module 300 is configured to sample a plurality of groups of path planning curves of the current vehicle based on the current vehicle speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and the speed constraint condition of the target vehicle; and the planning module 400 is configured to calculate the cost values of the plurality of groups of path planning curves, take the path planning curve with the minimum cost value as a target planning path curve, and control the current vehicle to overtake and merge into the main road or follow and merge into the main road in the ramp according to the target planning path curve.

[0061] Optionally, in some embodiments, when the current vehicle is controlled to overtake and merge into the main road or follow and merge into the main road in the ramp according to the target planning path curve, the planning module 400 is further configured to: if the current vehicle reaches the end of the target planning path curve, plan a trajectory curve of the current vehicle merging into the main road based on the lateral distance between the current vehicle and the target lane and the speed of the current vehicle.

[0062] Optionally, in some embodiments, when the current vehicle is controlled to overtake and merge into the main road or follow and merge into the main road in the ramp according to the target planning path curve, the planning module 400 is further configured to: monitor whether there is another vehicle suddenly entering a lane-changing trajectory on the target planning path curve; if it is monitored that there is another vehicle suddenly entering a lane-changing trajectory, immediately stop performing the current lane-changing operation, and re-plan a new path planning curve based on the current vehicle speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle in the ramp, and control the current vehicle to travel according to the new path planning curve.

[0063] Optionally, in some embodiments, when the cost values of the plurality of groups of path planning curves are calculated, the planning module 400 is further configured to: calculate the cost values of the plurality of groups of path planning curves by using a preset cost function, wherein the preset cost function is:

[0064] C=w0d safe +w1a y ;

[0065] wherein d safe is the projection of the distance between the end of each planned path and the safety distance line on the s-axis, a y is the maximum lateral acceleration of the current vehicle in the process of driving to the limit position in the ramp and then changing lanes to the main road, w0 is a positive weight, and w1 is a negative weight.

[0066] It should be noted that the foregoing explanation of the embodiment of the lane changing path planning method also applies to the lane changing path planning device of this embodiment, which will not be described here.

[0067] The lane changing path planning device provided by the embodiment of the application determines whether the current vehicle is in a ramp merging into a main road state; if the current vehicle is in the ramp merging into the main road state, the current vehicle speed, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle in the ramp are obtained, and a plurality of groups of path planning curves of the current vehicle are sampled based on the current vehicle speed, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and the speed constraint condition of the target vehicle; the cost values of the plurality of groups of path planning curves are calculated, and the path planning curve with the minimum cost value is taken as a target planning path curve, so as to control the current vehicle to overtake and merge into the main road or follow and merge into the main road in the ramp according to the target planning path curve. Thus, the problem that the existing scheme cannot sample an efficient and safe planning path in the ramp merging into the main road scene and cannot quickly and effectively make a decision between overtaking and merging and following and merging is solved, and the efficiency of path planning in the ramp merging into the main road scene is improved.

[0068] Figure 5 A structural schematic diagram of a vehicle is provided for the embodiment of the application. The vehicle can include:

[0069] The memory 501, the processor 502, and the computer program stored in the memory 501 and executable on the processor 502.

[0070] The processor 502 implements the lane changing path planning method provided in the above embodiments when executing the program.

[0071] Further, the vehicle further includes:

[0072] The communication interface 503 is used for communication between the memory 501 and the processor 502.

[0073] The memory 501 is used to store the computer program executable on the processor 502.

[0074] The memory 501 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0075] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected with each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 5 Only one thick line is used to represent the bus in the figure, but it does not mean that there is only one bus or only one type of bus.

[0076] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can complete communication between each other through an internal interface.

[0077] The processor 502 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0078] The embodiments of the present application also provide a computer program product, which has a computer program stored thereon, and the program is executed by the processor to implement the lane-changing path planning method.

[0079] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means 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 the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0080] Moreover, the terms "first", "second", etc. are used herein only to describe different instances, and do not imply or suggest relative importance or a number of indicated technical features. Thus, the features defined with "first", "second" can include at least one of the features explicitly or implicitly. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited.

[0081] Any process or method descriptions or descriptions of the flow diagrams described herein, or otherwise described herein, can be understood as representing at least one of the steps of a method implemented with one or more computers, as well as any other suitable process, such as a data flow or a signal flow, or other flow diagrams, and the like, and that the various steps or acts of the processes described herein can be carried out in the order shown, in a different order, or concurrently, and that not all steps or acts may be required, and that in some embodiments, not all steps or acts may be performed. The various steps or acts of the processes described herein can be carried out by electronic components, software, firmware, hardware, or any suitable combination thereof.

[0082] The logic and / or steps represented in the flow diagrams described herein, or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logical functions, and the scope of the preferred embodiments of the present application includes additional implementations in any computer program product for use with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other system that can take instructions from an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer program product" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer program product include the following: an electronic connection with one or more wires (electronic devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer program product can even be paper or other suitable media on which the program can be printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other media, followed by electronic editing, interpretation, or processing, if necessary, in other suitable ways, and then stored in a computer memory.

[0083] It should be understood that parts of the present application can be realized in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. As in another embodiment, if realized by hardware, any one or a combination of the following technologies known in the art can be used: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0084] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by a program instructing the relevant hardware, and the program can be stored in a computer program product. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0085] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can be physically present separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software functional module. The integrated module, if realized in the form of a software functional module and sold or used as an independent product, can also be stored in a computer program product.

[0086] The above-mentioned computer program product can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A lane change path planning method characterized by, The method comprises the following steps: determining whether the current vehicle is in a state of merging onto a main road from a ramp; if the current vehicle is in the state of merging onto the main road from the ramp, obtaining a current speed of the current vehicle, a longitudinal distance between the current vehicle and a target vehicle, and a drivable distance of the current vehicle in the ramp; based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and a speed constraint condition of the target vehicle, sampling a plurality of path planning curves of the current vehicle; calculating cost values of the plurality of path planning curves, and taking a path planning curve with a minimum cost value as a target planning path curve, so as to control the current vehicle to overtake and merge onto the main road or follow and merge onto the main road in the ramp according to the target planning path curve, the calculation of the cost values of the plurality of path planning curves comprises: calculating the cost values of the plurality of path planning curves by using a preset cost function, wherein the preset cost function is: ； wherein, is the projection of the distance between the end of each planned path and the safety distance line on the s-axis, is the maximum lateral acceleration of the current vehicle during the process of driving in the ramp to the limit position and then starting to change lanes to the main road, is the positive weight, is the negative weight, and s-axis represents the longitudinal displacement of the current vehicle in the frenet coordinate system.

2. The method of claim 1, wherein, when controlling the current vehicle to overtake and merge onto the main road or follow and merge onto the main road in the ramp according to the target planning path curve, comprising: if the current vehicle reaches an end of the target planning path curve, planning a lane-changing trajectory curve of the current vehicle based on a lateral distance between the current vehicle and the target vehicle and a speed of the current vehicle.

3. The method of claim 1, wherein, when controlling the current vehicle to overtake and merge onto the main road or follow and merge onto the main road in the ramp according to the target planning path curve, comprising: monitoring whether there is another vehicle suddenly entering the lane-changing trajectory on the target planning path curve; if it is monitored that there is another vehicle suddenly entering the lane-changing trajectory, immediately stopping the execution of the current lane-changing operation, and re-planning a new path planning curve based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle in the ramp, and controlling the current vehicle to travel according to the new path planning curve.

4. A lane change path planning device characterized by comprising: comprising: a determination module configured to determine whether a current vehicle is in a state of merging onto a main road from a ramp; an obtaining module configured to, if the current vehicle is in the state of merging onto the main road from the ramp, obtain a current speed of the current vehicle, a longitudinal distance between the current vehicle and a target vehicle, and a drivable distance of the current vehicle in the ramp, a sampling module configured to, based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, the drivable distance of the current vehicle in the ramp, and a speed constraint condition of the target vehicle, sample a plurality of path planning curves of the current vehicle; a planning module configured to calculate cost values of the plurality of path planning curves, and take a path planning curve with a minimum cost value as a target planning path curve, so as to control the current vehicle to overtake and merge onto the main road or follow and merge onto the main road in the ramp according to the target planning path curve, the planning module is further configured to calculate the cost values of the plurality of path planning curves by using a preset cost function, wherein the preset cost function is: ； wherein, is the projection of the distance between the end of each planned path and the safety distance line on the s-axis, is the maximum lateral acceleration of the current vehicle during the process of driving in the ramp to the limit position and then starting to change lanes to the main road, is the positive weight, is the negative weight, and s-axis represents the longitudinal displacement of the current vehicle in the frenet coordinate system.

5. The apparatus of claim 4, wherein, In the process of controlling the current vehicle to overtake or follow the target vehicle to merge into the main road according to the target planning path curve, the planning module is further configured to: If the current vehicle reaches the end of the target planning path curve, a lane-changing trajectory curve is planned for the current vehicle to merge into the main road based on the lateral distance between the current vehicle and the target vehicle and the speed of the current vehicle.

6. The apparatus of claim 4, wherein, In the process of controlling the current vehicle to overtake or follow the target vehicle to merge into the main road according to the target planning path curve, the planning module is further configured to: monitor whether there is another vehicle suddenly entering the lane-changing trajectory on the target planning path curve; If it is monitored that there is another vehicle suddenly entering the lane-changing trajectory, the current lane-changing operation is immediately stopped, and a new path planning curve is re-planned based on the current speed of the current vehicle, the longitudinal distance between the current vehicle and the target vehicle, and the drivable distance of the current vehicle in the ramp, and the current vehicle is controlled to travel according to the new path planning curve.

7. A vehicle characterized by comprising: A computer program product, comprising a memory and a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the lane-changing path planning method according to any one of claims 1-3.

8. A computer program product, the computer program product storing a computer program, characterized in that, The program is executed by the processor to implement the lane-changing path planning method according to any one of claims 1-3.

Images