Method, strategy, electronic device and storage medium for drawing lane change trajectory

Abstract

The present invention proposes a method and strategy for drawing a lane change trajectory line, the method comprising: using a quintic polynomial to construct a trajectory equation for a vehicle lane change, wherein the trajectory equation is provided with six coefficients; obtaining the starting data and the end point data of the vehicle lane change, substituting the longitude component of the starting data and the longitude component of the end point data into the six coefficients represented by the starting parameters and the end point parameters, solving a set of coefficient values ​​of the longitude component, substituting the latitude component of the starting data and the latitude component of the end point data into the six coefficients represented by the starting parameters and the end point parameters, solving a set of coefficient values ​​of the latitude component; calculating the ordinate and abscissa of the lane change trajectory, and drawing the lane change trajectory line according to multiple sets of abscissas and ordinates. The present invention solves the technical problem in the prior art that when the number of lanes increases or decreases, the lane change trajectory line displayed by the map software does not conform to the actual vehicle driving trajectory.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, strategy, electronic device, storage medium and computer program product for drawing a lane change trajectory. Background Art

[0002] In existing technologies, with the development of autonomous driving technology and intelligent network technology, high-precision maps play an increasingly important role in vehicle positioning, perception, prediction, planning and control. At present, when the number of lanes changes: adding or reducing lanes, virtual lane lines are used to supplement the connection to ensure data connectivity and integrity. However, when the number of lanes increases or decreases, the lane change trajectory lines displayed by the map software do not conform to the actual vehicle driving trajectory.

[0003] In order to provide better display effects of map software and make the display of map software close to the actual vehicle driving trajectory, it is necessary to improve the existing technology. Summary of the invention

[0004] Based on the above problems, the present invention proposes a method, strategy, electronic device, storage medium and computer program product for drawing lane change trajectory lines. The present invention solves the technical problem in the prior art that when the number of lanes increases or decreases, the lane change trajectory lines displayed by the map software do not conform to the actual vehicle driving trajectory. Although Bezier curves and spline curves can also be used to smooth lines in the prior art, the smoothness of the lane change trajectory lines drawn by the technical solution provided by the present invention cannot reach that achieved. Compared with the prior art, the method for drawing lane change trajectory lines provided by the present invention can obtain a curve that is more in line with the actual vehicle lane change trajectory, so that the map software provides a better user experience for vehicle users. The curve of the vehicle lane change trajectory provided by the present invention is closer to the line shape of the vehicle driving track, and the real control track can be obtained after less processing when the vehicle performs trajectory planning.

[0005] The present invention provides a method for drawing a lane change trajectory, comprising:

[0006] A fifth-order polynomial is used to construct the trajectory equation of the vehicle changing lanes, and there are six coefficients in the trajectory equation;

[0007] The velocity equation is obtained by taking a first derivative of the trajectory equation, and the acceleration equation is obtained by taking a second derivative of the trajectory equation;

[0008] Substituting the starting parameter and the end point parameter of the vehicle lane change into the trajectory equation, the speed equation and the acceleration equation, so that the six coefficients of the quintic polynomial are expressed by the starting parameter and the end point parameter;

[0009] Obtain the starting data and the ending data of the vehicle lane change, bring the longitude component of the starting data and the longitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solve for a set of coefficient values ​​of the longitude component; bring the latitude component of the starting data and the latitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solve for a set of coefficient values ​​of the latitude component;

[0010] Every other sampling time, the parameter value of the longitude component is substituted into the trajectory equation to obtain the ordinate of the lane changing trajectory, and the parameter value of the latitude component is substituted into the trajectory equation to obtain the abscissa of the lane changing trajectory, and the lane changing trajectory line is drawn based on multiple sets of abscissas and ordinates.

[0011] In addition, the trajectory equation of the vehicle lane change is constructed by using a quintic polynomial, and six coefficients are set in the trajectory equation; the velocity equation is obtained by taking a first derivative of the trajectory equation, and the acceleration equation is obtained by taking a second derivative of the trajectory equation, including:

[0012] The trajectory equation is:

[0013] q(t)=k0+k1(t-t0)+k2(t-t0) 2 +k3(t-t0)t 3 +k4(t-t0) 4 +k5(t-t0) 5 ;

[0014] The velocity equation is obtained by taking a derivative of the trajectory equation:

[0015]

[0016] Taking the second derivative of the trajectory equation, we get the acceleration equation:

[0017]

[0018] Substituting the starting parameter and the end parameter of the vehicle lane change into the trajectory equation, the speed equation and the acceleration equation so that the six coefficients of the quintic polynomial are expressed by the starting parameter and the end parameter comprises: establishing six equations as follows:

[0019] q(t0)=q 0， q(t1)=q1,

[0020] k0 to k5 are represented as follows:

[0021] T=t1-t0, h=q1-q0, k0=q0, k1=v0,

[0022]

[0023] Among them, q(t) is the trajectory, For speed, is the acceleration, k0 to k5 are the six coefficients of the trajectory equation, q(t0) and q(t1) are the trajectories at t0 and t1 respectively. and are the speeds at time t0 and t1 respectively, and are the accelerations at t0 and t1 respectively, T is the time difference between t0 and t1, and h is the trajectory difference between q1 and q0.

[0024] In addition, the acquisition of the starting data and the ending data of the vehicle lane change includes:

[0025] Get the starting time, ending time, starting longitude, starting latitude, ending longitude, ending latitude, preceding heading angle, and succeeding heading angle of the vehicle's lane change;

[0026] The preceding heading angle and the succeeding heading angle are calculated according to the following formula:

[0027]

[0028] Among them, bearing is the heading angle, φ1 and φ2 are the latitude of the starting point and the latitude of the end point respectively, and Δλ is the difference between the longitude of the starting point and the longitude of the end point;

[0029] The starting point of the preceding heading angle is the starting point of the vehicle's lane change, the end point of the preceding heading angle is the next adjacent point to the starting point of the vehicle's lane change, the starting point of the succeeding heading angle is the end point of the vehicle's lane change, and the end point of the succeeding heading angle is the next adjacent point to the end point of the vehicle's lane change.

[0030] In addition, the longitude component of the start data and the longitude component of the end data include:

[0031] t 0y = start time, t 1y = end time, q 0y = starting point longitude, q 1y = the longitude of the end point, v 0y = starting speed * cos (previous heading angle), v 1y = terminal speed*cos(subsequent heading angle), a 0y = acceleration at the starting point, a 1y = terminal acceleration.

[0032] The latitude component of the start data and the latitude component of the end data include:

[0033] t 0x = start time, t 1x = end time, q 0x = starting point latitude, q1x = latitude of the end point, v 0x = starting speed * sin (previous heading angle), v 1x = terminal velocity*sin(subsequent heading angle), a 0x = acceleration at the starting point, a 1x = terminal acceleration.

[0034] The present invention also proposes a strategy for drawing vehicle trajectories, including:

[0035] If the mode is to draw the lane change trajectory in real time, then detect whether the number of lanes in the vehicle's forward direction on the vehicle map has changed, and if so, draw the predicted vehicle lane change trajectory line on the vehicle map using the method for drawing the lane change trajectory line as described in any of the above items;

[0036] If the lane change trajectory is drawn in advance, a virtual connecting line between lane lines is obtained as a predicted lane change trajectory of the vehicle, and the predicted lane change trajectory of the vehicle is drawn using the method for drawing a lane change trajectory as described in any of the above items.

[0037] In addition, the obtaining of the virtual connection line between lane lines includes: finding the preceding lane and the succeeding lane in the road network topology relationship where the number of lanes changes, and the line connecting the preceding lane and the succeeding lane is the virtual connection line.

[0038] In addition, the predicted vehicle lane change trajectory line is drawn using a drawing style that is different from other lines on the vehicle map.

[0039] The present invention also provides an electronic device, comprising:

[0040] at least one processor; and,

[0041] a memory communicatively connected to at least one of the processors; wherein,

[0042] The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable the at least one processor to execute the method for drawing a lane change trajectory as described in any one of the above items.

[0043] The present invention also proposes a storage medium, characterized in that the storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the method for drawing a lane change trajectory as described in any one of the above items.

[0044] The present invention also proposes a computer program product, including a computer program / instruction, characterized in that when the computer program / instruction is executed by a processor, the method for drawing a lane change trajectory as described in any one of the above items is implemented.

[0045] The present invention solves the technical problem in the prior art that when the number of lanes increases or decreases, the lane change trajectory displayed by the map software does not conform to the actual vehicle driving trajectory. Although Bezier curves and spline curves can also be used in the prior art to smooth the lines, the smoothness of the lane change trajectory drawn by the technical solution provided by the present invention cannot reach that of the prior art. Compared with the prior art, the method for drawing the lane change trajectory provided by the present invention can obtain a curve that is more in line with the actual vehicle lane change trajectory, so that the map software provides a better user experience for the vehicle user. The curve of the vehicle lane change trajectory provided by the present invention is closer to the line shape of the vehicle's driving track, and the real control track can be obtained with less processing when the vehicle is planning the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A flow chart of a method for drawing a lane change trajectory provided by one embodiment of the present invention;

[0047] Figure 2 An effect diagram of drawing a lane change trajectory provided by an embodiment of the present invention;

[0048] Figure 3 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention;

[0049] Figure 4 A real lane image obtained from a video device;

[0050] Figure 5 A schematic diagram of a lane change provided by an embodiment of the present invention;

[0051] Figure 6 A schematic diagram of lane connection lines when changing lanes provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with specific embodiments and drawings. It is only intended to elaborate on the specific embodiments of the present invention and does not impose any limitation on the present invention. The protection scope of the present invention shall be subject to the claims.

[0053] The present invention is further described in detail below in conjunction with specific embodiments and drawings. It is only intended to elaborate on the specific embodiments of the present invention and does not impose any limitation on the present invention. The protection scope of the present invention shall be subject to the claims.

[0054] Reference Figure 1 The present invention provides a method for drawing a lane change trajectory line, comprising:

[0055] Step S001, constructing a trajectory equation of a vehicle changing lanes using a quintic polynomial, wherein the trajectory equation is provided with six coefficients;

[0056] Step S002, taking a first derivative of the trajectory equation to obtain a velocity equation, and taking a second derivative of the trajectory equation to obtain an acceleration equation;

[0057] Step S003, bringing the starting parameter and the end point parameter of the vehicle lane change into the trajectory equation, the speed equation and the acceleration equation, so that the six coefficients of the quintic polynomial are expressed by the starting parameter and the end point parameter;

[0058] Step S004, obtaining the starting data and the ending data of the vehicle lane change, substituting the longitude component of the starting data and the longitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solving for a set of coefficient values ​​of the longitude component, substituting the latitude component of the starting data and the latitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solving for a set of coefficient values ​​of the latitude component;

[0059] Step S005, every other sampling time, the parameter value of the longitude component is substituted into the trajectory equation to obtain the ordinate of the lane changing trajectory, and the parameter value of the latitude component is substituted into the trajectory equation to obtain the abscissa of the lane changing trajectory, and the lane changing trajectory line is drawn according to multiple sets of abscissas and ordinates.

[0060] In the prior art, when the number of lanes changes, such as adding or removing lanes, virtual lane lines are used to supplement and connect them to ensure data connectivity and integrity. However, virtual lane lines are often rigidly connected using straight lines. When used on the vehicle side, such data cannot provide reasonable fitting road information, so such virtual lane lines need to be smoothed. Figure 4 is a real scene image obtained from a video shooting device, Figure 5 This is the fitting curve of the existing technology when changing lanes, which can be seen as a straight line connection.

[0061] In step S001 of the present invention, a quintic polynomial is used to construct a trajectory equation of the vehicle changing lanes. The trajectory equation is provided with six coefficients. For example, the trajectory equation is:

[0062] q(t)=k0+k1(t-t0)+k2(t-t0) 2 +k3(t-t0)t 3 +k4(t-t0) 4 +k5(t-t0) 5 ;

[0063] k0 to k5 are six coefficients.

[0064] Step S002, deriving the trajectory equation once to obtain the velocity equation:

[0065]

[0066] Taking the second derivative of the trajectory equation, we get the acceleration equation:

[0067]

[0068] Step S003, bringing the starting parameter and the end point parameter of the vehicle lane change into the trajectory equation, the speed equation and the acceleration equation, so that the six coefficients of the quintic polynomial are expressed by the starting parameter and the end point parameter;

[0069] Six equations are established as follows:

[0070] q(t0)=q 0， q(t1)=q1,

[0071] Solve these six equations together with the trajectory equation, velocity equation, and acceleration equation to find k0 to k5.

[0072] k0 to k5 are represented as follows:

[0073] T=t1-t0, h=q1-q0, k0=q0, k1=v0,

[0074]

[0075]

[0076] Step S004, obtaining the starting data and the ending data of the vehicle lane change, substituting the longitude component of the starting data and the longitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solving for a set of coefficient values ​​of the longitude component, substituting the latitude component of the starting data and the latitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solving for a set of coefficient values ​​of the latitude component;

[0077] The longitude component of the start data and the longitude component of the end data include:

[0078] t 0y = start time, t 1y = end time, q 0y = starting point longitude, q 1y = the longitude of the end point, v 0y = starting speed * cos (previous heading angle), v 1y = terminal speed*cos(subsequent heading angle), a 0y = acceleration at the starting point, a 1y = terminal acceleration.

[0079] Substitute the longitude component of the starting data and the longitude component of the end data into the following formula to solve a set of coefficient values ​​of the longitude component.

[0080] T=t1-t0, h=q1-q0, k0=q0, k1=v0,

[0081]

[0082] Substitute a set of coefficient values ​​of the longitude component into the trajectory equation to obtain the ordinate of the lane change trajectory.

[0083] The latitude component of the start data and the latitude component of the end data include:

[0084] t 0x = start time, t 1x = end time, q 0x = starting point latitude, q 1x = latitude of the end point, v 0x = starting speed * sin (previous heading angle), v 1x = terminal velocity*sin(subsequent heading angle), a 0x = acceleration at the starting point, a 1x = terminal acceleration.

[0085] Substitute the latitude component of the starting data and the latitude component of the end data into the following formula to solve a set of coefficient values ​​of the latitude component.

[0086] T=t1-t0, h=q1-q0, k0=q0, k1=v0,

[0087]

[0088]

[0089] Substitute a set of coefficient values ​​of the longitude component into the trajectory equation to obtain the horizontal coordinate of the lane change trajectory.

[0090] In step S005, sampling is performed at every sampling time, for example, every 0.1, 0.01 s, etc., to obtain the ordinate and abscissa of the lane change trajectory, and the lane change trajectory line is drawn according to multiple sets of abscissas and ordinates.

[0091] In the prior art, although Bezier curves and spline curves can also be used to smooth lines, they cannot achieve the same smoothness as the technical solution provided by the present invention in drawing lane change trajectory lines. Compared with the prior art, the method for drawing lane change trajectory lines provided by the present invention can obtain a curve that is more in line with the actual vehicle lane change trajectory, so that the map software can provide a better user experience for vehicle users. The curve of the vehicle lane change trajectory provided by the present invention is closer to the line shape of the vehicle's driving track, and the actual control track can be obtained with less processing when the vehicle is planning the track.

[0092] In one embodiment, a trajectory equation of a vehicle changing lanes is constructed using a quintic polynomial, and six coefficients are provided in the trajectory equation; a velocity equation is obtained by first derivation of the trajectory equation, and an acceleration equation is obtained by second derivation of the trajectory equation, including:

[0093] The trajectory equation is:

[0094] q(t)=k0+k1(t-t0)+k2(t-t0) 2 +k3(t-t0)t 3 +k4(t-t0) 4 +k5(t-t0) 5 ;

[0095] Taking a derivative of the trajectory equation, we get the velocity equation:

[0096]

[0097] Taking the second derivative of the trajectory equation, we get the acceleration equation:

[0098]

[0099] Substitute the starting and ending parameters of the vehicle lane change into the trajectory equation, speed equation, and acceleration equation, so that the six coefficients of the quintic polynomial are expressed by the starting and ending parameters, including:

[0100] The six equations are established as follows:

[0101] q(t0)=q 0， q(t1)=q1, Solve these six equations together with the trajectory equation, velocity equation, and acceleration equation to find k0 to K5.

[0102] k0 to k5 are represented as follows:

[0103] T=t1-t0, h=q1-q0, k0=q0, k1=v0,

[0104]

[0105] Among them, q(t) is the trajectory, For speed, is the acceleration, k0 to k5 are the six coefficients of the trajectory equation, q(t0) and q(t1) are the trajectories at t0 and t1 respectively. and are the speeds at time t0 and t1 respectively, and are the accelerations at t0 and t1 respectively, T is the time difference between t0 and t1, and h is the trajectory difference between q1 and q0.

[0106] By expressing the six coefficients, the initial data can be substituted in to find the values ​​of the six coefficients.

[0107] In one embodiment, obtaining the starting data and the ending data of the vehicle lane change includes:

[0108] Get the starting time, ending time, starting longitude, starting latitude, ending longitude, ending latitude, preceding heading angle, and succeeding heading angle of the vehicle's lane change;

[0109] The preceding heading angle and the succeeding heading angle are calculated according to the following formula:

[0110]

[0111] Among them, bearing is the heading angle, φ1 and φ2 are the latitude of the starting point and the latitude of the end point respectively, and Δλ is the difference between the longitude of the starting point and the longitude of the end point;

[0112] The starting point of the preceding heading angle is the starting point of the vehicle's lane change, the end point of the preceding heading angle is the next adjacent point to the starting point of the vehicle's lane change, the starting point of the succeeding heading angle is the end point of the vehicle's lane change, and the end point of the succeeding heading angle is the next adjacent point to the end point of the vehicle's lane change.

[0113] Substitute the data of the starting point and the end point of the previous heading angle into the following formula:

[0114]

[0115] Calculate the preceding heading angle to prepare for the subsequent calculation of the speed value.

[0116] Substitute the data of the starting point and the end point of the subsequent heading angle into the following formula:

[0117]

[0118] Calculate the subsequent heading angle to prepare for the subsequent calculation of the speed value.

[0119] By calculating the preceding heading angle and the succeeding heading angle, we prepare for the subsequent velocity component calculation.

[0120] In one embodiment, the longitude component of the start data and the longitude component of the end data include:

[0121] t 0y = start time, t 1y = end time, q 0y = starting point longitude, q 1y = the longitude of the end point, v 0y = starting speed * cos (previous heading angle), v 1y= terminal speed*cos(subsequent heading angle), a 0y = acceleration at the starting point, a 1y = terminal acceleration.

[0122] The latitude component of the start data and the latitude component of the end data include:

[0123] t 0x = start time, t 1x = end time, q 0x = starting point latitude, q 1x = latitude of the end point, v 0x = starting speed * sin (previous heading angle), v 1x = terminal velocity*sin(subsequent heading angle), a 0x = acceleration at the starting point, a 1x = terminal acceleration.

[0124] The start time, the end time, the start longitude value, and the end longitude value are obtained from empirical data or from real-time vehicle data.

[0125] For example, using empirical data, set the start time to 0, the end time to 4s, the start speed and end speed to 5.0m / s, the start acceleration and end acceleration to 0.2m / s 2 . Then the longitude component of the starting data and the longitude component of the end data are:

[0126] t 0y =0,t 1y =4s,q 0y = starting point longitude, q 1y = the longitude of the end point, v 0y =5.0*cos(previous heading angle), v 1y =5.0*cos(subsequent heading angle), a 0y =0.2, a 1y =0.2.

[0127] The latitude component of the starting data and the latitude component of the end data are:

[0128] t 0x =0,t 1x =4s,q 0x = starting point latitude, q 1x = latitude of the end point, v 0x =5.0*sin(previous heading angle), v 1x =5.0*sin(subsequent heading angle),a 0x =0.2, a 1x =0.2.

[0129] The longitude component of the starting data and the longitude component of the end data are brought into the six parameters to obtain a set of parameter values ​​in the longitude direction and the latitude direction respectively, in preparation for the subsequent calculation of the horizontal coordinate and the vertical coordinate.

[0130] The present invention also proposes a strategy for drawing vehicle trajectories, including:

[0131] If the mode is to draw the lane change trajectory in real time, then it is detected whether the number of lanes in the vehicle's forward direction on the vehicle map has changed. If so, the predicted vehicle lane change trajectory line on the vehicle map is drawn using the method for drawing the lane change trajectory line described in any of the above embodiments;

[0132] If the lane change trajectory is drawn in advance, a virtual connecting line between lane lines is obtained as a predicted vehicle lane change trajectory, and the predicted vehicle lane change trajectory is drawn using the method for drawing a lane change trajectory as described in any of the above embodiments.

[0133] The existing technology often uses straight lines, Bezier curve fitting, and spline curve fitting to process, which may cause the problem of uneven transition of the heading angle at the junction of the current virtual lane and the successive lane lines.

[0134] The present invention solves the technical problem in the prior art that when the number of lanes increases or decreases, the lane change trajectory displayed by the map software does not conform to the actual vehicle driving trajectory. Although Bezier curves and spline curves can also be used in the prior art to smooth the lines, the smoothness of the lane change trajectory drawn by the technical solution provided by the present invention cannot reach that of the prior art. Compared with the prior art, the method for drawing the lane change trajectory provided by the present invention can obtain a curve that is more in line with the actual vehicle lane change trajectory, so that the map software provides a better user experience for the vehicle user. The curve of the vehicle lane change trajectory provided by the present invention is closer to the line shape of the vehicle's driving track, and the real control track can be obtained with less processing when the vehicle is planning the track.

[0135] In one embodiment, obtaining the virtual connection line between lane lines includes: finding the preceding lane and the succeeding lane in the road network topology relationship where the number of lanes changes, and the line connecting the preceding lane and the succeeding lane is the virtual connection line. Figure 6 , the red lines are virtual connecting lines.

[0136] Optionally, the map software finds the lane change and the virtual connection line when the ID number of the preceding lane is different from the ID number of the succeeding lane in the following ways, where ID (Identity document) represents a unique code:

[0137] Based on the map data model: In the map data model, the lane connection information is stored, and the connection is described with the help of the predecessor and successor information of each lane. The ID numbers of the preceding lane and the successor lane are clearly given. The map can directly find the location of the lane change and the virtual connection line that needs to be connected based on this.

[0138] Utilize high-precision map drawing technology: by collecting data such as vehicle driving trajectories to train the model, and then generate driving trajectory curves based on driving videos of the area to be drawn, combine the connecting lane information, draw virtual lane lines, and thus determine the lane change position and virtual connecting lines.

[0139] With the help of the intersection virtual line drawing method: for complex locations such as intersections, the isolated physical line of the target intersection and the initial intersection virtual line are obtained, and based on the trajectory matching and turning matching of the two, the appropriate isolated physical line is selected as the target isolated physical line, and then the lane line and the target isolated physical line are connected and drawn using the Hermite curve connection method or the straight line connection method to obtain the target intersection virtual line containing the virtual connection line.

[0140] Through the algorithm and data update of the navigation software: The navigation software dynamically plans the route based on its own algorithm, combined with map data and real-time traffic information, such as road construction and traffic flow. When the ID numbers of the preceding lane and the succeeding lane are different, the lane change point and the connection method of the virtual connecting line are determined according to the preset rules and algorithms. At the same time, the map data will be continuously updated to ensure the accuracy of information such as lane changes and virtual connecting lines.

[0141] By providing a virtual connecting line, this embodiment performs fitting and smoothing operations.

[0142] In one embodiment, the predicted vehicle lane change trajectory is drawn in a drawing style that is different from other lines on the vehicle map.

[0143] The lines are drawn in a different style from other lines on the vehicle map, such as different colors, different line thicknesses, etc. By using different drawing styles, users can see clearly at a glance.

[0144] Reference Figure 3 The present invention also provides a hardware structure diagram of an electronic device, including:

[0145] at least one processor 301; and,

[0146] A memory 302 is communicatively connected to at least one of the processors 301; wherein,

[0147] The memory 302 stores instructions that can be executed by at least one processor. The instructions are executed by the at least one processor so that the at least one processor can execute the method for drawing a lane change trajectory as described above.

[0148] Figure 3 A processor 301 is taken as an example.

[0149] The electronic device is preferably a controller of the vehicle. The electronic device may further include: an input device 303 and a display device 304 .

[0150] The processor 301, the memory 302, the input device 303 and the display device 304 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0151] The memory 302 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the method for drawing a lane change trajectory line in an embodiment of the present application, for example, Figure 2 The processor 301 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 302, that is, the method for drawing the lane change trajectory in the above embodiment is implemented.

[0152] The memory 302 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required by at least one function; the data storage area may store data created according to the use of the method for drawing a lane change trajectory, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 302 may optionally include a memory remotely arranged relative to the processor 301, and these remote memories may be connected to a device for executing the method for drawing a lane change trajectory via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0153] The input device 303 may receive a user click input, and generate a signal input related to a user setting of a method for drawing a lane change trajectory and a function control. The display device 304 may include a display device such as a display screen.

[0154] One or more modules are stored in the memory 302 , and when executed by one or more processors 301 , the method for drawing a lane change trajectory in any of the above method embodiments is executed.

[0155] An embodiment of the present invention provides a storage medium, which stores computer instructions. When a computer executes the computer instructions, it is used to execute all steps of the method for drawing a lane change trajectory as described above.

[0156] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-temporary computer-readable storage medium, for example, a non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0157] The present invention solves the technical problem in the prior art that when the number of lanes increases or decreases, the lane change trajectory displayed by the map software does not conform to the actual vehicle driving trajectory. Although Bezier curves and spline curves can also be used in the prior art to smooth the lines, the smoothness of the lane change trajectory drawn by the technical solution provided by the present invention cannot reach that of the prior art. Compared with the prior art, the method for drawing the lane change trajectory provided by the present invention can obtain a curve that is more in line with the actual vehicle lane change trajectory, so that the map software provides a better user experience for the vehicle user. The curve of the vehicle lane change trajectory provided by the present invention is closer to the line shape of the vehicle's driving track, and the real control track can be obtained with less processing when the vehicle is planning the track.

[0158] An embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the method for drawing a lane change trajectory as described above when executed by a processor.

[0159] The above description is only the principle and preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this field, several other modifications can be made based on the principle of the present invention, which should also be considered as the protection scope of the present invention.

Claims

1. A method for drawing a lane change trajectory, characterized in that: include: A fifth-order polynomial is used to construct the trajectory equation of the vehicle changing lanes, and there are six coefficients in the trajectory equation; The velocity equation is obtained by taking a first derivative of the trajectory equation, and the acceleration equation is obtained by taking a second derivative of the trajectory equation; Substituting the starting parameter and the end point parameter of the vehicle lane change into the trajectory equation, the speed equation and the acceleration equation, so that the six coefficients of the quintic polynomial are expressed by the starting parameter and the end point parameter; Obtain the starting data and the ending data of the vehicle lane change, bring the longitude component of the starting data and the longitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solve for a set of coefficient values ​​of the longitude component; bring the latitude component of the starting data and the latitude component of the ending data into the six coefficients represented by the starting parameters and the ending parameters, and solve for a set of coefficient values ​​of the latitude component; Every other sampling time, the parameter value of the longitude component is substituted into the trajectory equation to obtain the ordinate of the lane changing trajectory, and the parameter value of the latitude component is substituted into the trajectory equation to obtain the abscissa of the lane changing trajectory, and the lane changing trajectory line is drawn based on multiple sets of abscissas and ordinates.

2. The method for drawing a lane change trajectory according to claim 1, characterized in that: include: The fifth-order polynomial is used to construct the trajectory equation of the vehicle changing lanes, and the trajectory equation is provided with six coefficients; Taking a first derivative of the trajectory equation to obtain a velocity equation, and taking a second derivative of the trajectory equation to obtain an acceleration equation include: The trajectory equation is: q(t)=k0+k1(t-t0)+k2(t-t0) 2 +k3(t-t0)t 3 +k4(t-t0) 4 +k5(t-t0) 5 ; The velocity equation is obtained by taking a derivative of the trajectory equation: Taking the second derivative of the trajectory equation, we get the acceleration equation: Substituting the starting parameter and the end parameter of the vehicle lane change into the trajectory equation, the speed equation and the acceleration equation so that the six coefficients of the quintic polynomial are expressed by the starting parameter and the end parameter comprises: Six equations are established as follows: k0 to k5 are represented as follows: T=t1-t0, h=q1-q0, k0=q0, k1=v0, Among them, q(t) is the trajectory, For speed, is the acceleration, k0 to k5 are the six coefficients of the trajectory equation, q(t0) and q(t1) are the trajectories at t0 and t1 respectively. and are the speeds at time t0 and t1 respectively, and are the accelerations at t0 and t1 respectively, T is the time difference between t0 and t1, and h is the trajectory difference between q1 and q0.

3. The method for drawing a lane change trajectory according to claim 1, characterized in that: include: The acquisition of the starting data and the ending data of the vehicle lane change comprises: Get the starting time, ending time, starting longitude, starting latitude, ending longitude, ending latitude, preceding heading angle, and succeeding heading angle of the vehicle's lane change; The preceding heading angle and the succeeding heading angle are calculated according to the following formula: Among them, bearing is the heading angle, φ1 and φ2 are the latitude of the starting point and the latitude of the end point respectively, and Δλ is the difference between the longitude of the starting point and the longitude of the end point; The starting point of the preceding heading angle is the starting point of the vehicle's lane change, the end point of the preceding heading angle is the next adjacent point to the starting point of the vehicle's lane change, the starting point of the succeeding heading angle is the end point of the vehicle's lane change, and the end point of the succeeding heading angle is the next adjacent point to the end point of the vehicle's lane change.

4. The method for drawing a lane change trajectory according to claim 3, characterized in that: include: The longitude component of the start data and the longitude component of the end data include: t 0y = start time, t 1y = end time, q 0y = starting point longitude, q 1y = the longitude of the end point, v 0y = starting speed * cos (previous heading angle), v 1y = terminal speed*cos(subsequent heading angle), a 0y = acceleration at the starting point, a 1y = terminal acceleration. The latitude component of the start data and the latitude component of the end data include: t 0x = start time, t 1x = end time, q 0x = starting point latitude, q 1x = latitude of the end point, v 0x = starting speed * sin (previous heading angle), v 1x = terminal speed*sin(subsequent heading angle), a 0x = acceleration at the starting point, a 1x = terminal acceleration.

5. A strategy for drawing vehicle trajectories, characterized in that: include: If the mode is to draw the lane change trajectory in real time, then detect whether the number of lanes in the vehicle's forward direction on the vehicle map has changed, and if so, draw the predicted vehicle lane change trajectory line on the vehicle map using the method for drawing the lane change trajectory line as described in any one of claims 1 to 4; If the lane change trajectory is drawn in advance, a virtual connecting line between lane lines is obtained as a predicted vehicle lane change trajectory, and the predicted vehicle lane change trajectory is drawn using the method for drawing a lane change trajectory as described in any one of claims 1 to 4.

6. The strategy for drawing vehicle trajectories according to claim 5, characterized in that: include: The obtaining of the virtual connection line between lane lines includes: finding the preceding lane and the succeeding lane in the road network topology relationship where the number of lanes changes, and the line connecting the preceding lane and the succeeding lane is the virtual connection line.

7. The strategy for drawing vehicle trajectories according to claim 5, characterized in that: include: The predicted vehicle lane change trajectory line is drawn using a drawing style that is different from other lines on the vehicle map.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to execute the method for drawing a lane change trajectory as described in any one of claims 1 to 4.

9. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the method for drawing a lane change trajectory as described in any one of claims 1 to 4.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the method for drawing a lane change trajectory as described in any one of claims 1 to 4 is implemented.

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