A vehicle trajectory planning method, device, equipment and medium

Abstract

Embodiments of the present application disclose a vehicle trajectory planning method, device, equipment and medium, the method comprises: determining the motion information of a target vehicle; determining whether the target vehicle has dangerous driving behavior according to the motion information, wherein the dangerous driving behavior refers to the behavior that the target vehicle changes lanes within a set time; if it is determined that the target vehicle has dangerous driving behavior, determining whether the current vehicle meets the lane change condition of changing lanes to an adjacent lane; if it is determined that the current vehicle meets the lane change condition, planning a first driving trajectory from the current position to the adjacent lane, and changing lanes according to the first driving trajectory. By adopting the above technical solution, the obstacle with collision risk is predicted in advance, so as to avoid collision with the obstacle.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of autonomous driving technology, and more specifically, to a vehicle trajectory planning method, apparatus, device, and medium. Background Technology

[0002] Autonomous driving technology enables vehicles to drive autonomously without human intervention, eliminating traffic accidents caused by human error, fatigue, and distraction.

[0003] In autonomous driving, avoiding collisions with obstacles ahead is crucial for the vehicle's safe and stable operation. Current autonomous driving assistance functions, however, are inadequate in scenarios with heavy traffic or where other vehicles obstruct the view of obstacles, preventing the vehicle from detecting them. In these situations, the vehicle cannot predict collision risks, thus creating a risk of collision. Summary of the Invention

[0004] This invention provides a vehicle trajectory planning method, apparatus, device, and medium to predict obstacles with collision risks in advance, thereby avoiding collisions with obstacles.

[0005] The specific technical solution is as follows:

[0006] In a first aspect, embodiments of the present invention provide a vehicle trajectory planning method, including:

[0007] Determine the motion information of the target vehicle, which is the vehicle ahead of the current vehicle that is in the same lane as the current vehicle and is the closest to the current vehicle. The motion information includes heading angle information, acceleration information and angular velocity information.

[0008] The motion information is used to determine whether the target vehicle is engaging in dangerous driving behavior. Dangerous driving behavior refers to the target vehicle changing lanes within a set time period.

[0009] If it is determined that the target vehicle is engaging in dangerous driving behavior, then it is determined whether the current vehicle meets the lane change conditions for changing lanes to the adjacent lane.

[0010] If it is determined that the current vehicle meets the lane change conditions for changing lanes to the adjacent lane, then a first driving trajectory from the current position to the adjacent lane is planned, and the lane change is performed according to the first driving trajectory.

[0011] As can be seen from the above scheme, the driving behavior of the vehicle in front can be identified by the motion information of the vehicle in front. If dangerous driving behavior is identified, such as emergency steering, the risk of collision ahead of the vehicle in front can be predicted in advance based on this dangerous driving behavior. Furthermore, if the current vehicle determines that there is enough space to change lanes to the adjacent lane, it can plan a lane-changing trajectory to the adjacent lane, thereby avoiding obstacles with the risk of collision together with the vehicle in front, thus improving the safety of autonomous driving.

[0012] Optionally, if it is determined that the current vehicle meets the lane change conditions for changing lanes to the adjacent lane, then a first driving trajectory from the current position to the adjacent lane is planned, including:

[0013] If it is determined that changing lanes to any adjacent lane by the current vehicle satisfies the lane change conditions, the first adjacent lane to which the target vehicle changes lanes is taken as the target lane, and the first driving trajectory from the current position to the target lane is planned.

[0014] If it is determined that the current vehicle does not meet the lane change conditions when changing lanes to the first adjacent lane, but meets the lane change conditions when changing lanes to the second adjacent lane on the other side, the second adjacent lane is taken as the target lane, and a first driving trajectory from the current position to the target lane is planned.

[0015] Optionally, the method provided in this embodiment of the invention further includes:

[0016] If it is determined that the current vehicle does not meet the lane change conditions for changing lanes to the adjacent lane, a second driving trajectory is planned, and the vehicle decelerates according to the second driving trajectory. The second driving trajectory is the driving trajectory from the current position to the lane line close to the target lane line, and the target lane line is the lane line between the current lane and the adjacent lane.

[0017] As can be seen from the above scheme, when the vehicle determines that there is insufficient space for lane changing, it can reduce the risk of collision and improve the safety of autonomous driving by planning a second driving trajectory from the current position to the target lane line and decelerating along the target lane line.

[0018] Optionally, determine whether the current vehicle meets the lane change conditions for changing lanes to an adjacent lane, including:

[0019] In the adjacent lane, determine whether there are other vehicles in the lane-changing area of ​​the current vehicle. The lane-changing area is the adjacent lane located to the side of the current vehicle, starting from a position at a first preset distance in front of the current vehicle and ending at a position at a second preset distance behind the current vehicle.

[0020] If it is determined that there are no other vehicles in the lane-changing area, then it is determined whether there is a vehicle coming from behind the lane-changing area. If it is determined that there is no vehicle coming from behind, then it is determined that the current vehicle meets the lane-changing conditions. Alternatively, if it is determined that there is a vehicle coming from behind, and the collision time TTC between the current vehicle and the vehicle coming from behind is greater than or equal to a preset time threshold, then it is determined that the current vehicle meets the lane-changing conditions.

[0021] If it is determined that there are other vehicles in the lane-changing area, or,

[0022] If, in the presence of a vehicle approaching from behind, the time-to-travel time (TTC) between the current vehicle and the vehicle approaching from behind is less than a preset time threshold, then the current vehicle is determined not to meet the lane change conditions.

[0023] Optionally, determine whether the target vehicle is engaging in dangerous driving behavior based on motion information, including:

[0024] Determine whether a target vehicle is engaging in dangerous driving behavior using the following formula:

[0025]

[0026] in,

[0027] Where y represents the function value of the risk assessment function, It is the rate of change of heading angle, a represents lateral acceleration, ω represents yaw rate, and Y represents the danger threshold.

[0028] Optionally, the method provided in this embodiment of the invention further includes:

[0029] If it is determined that the target vehicle is not engaging in dangerous driving behavior, then continue following the target vehicle.

[0030] Secondly, embodiments of the present invention also provide a vehicle trajectory planning device, comprising:

[0031] The motion information determination module is configured to determine the motion information of a target vehicle, which is the vehicle in front of the current vehicle that is in the same lane as the current vehicle and is the closest to the current vehicle. The motion information includes heading angle information, acceleration information and angular velocity information.

[0032] The driving behavior judgment module is configured to determine whether the target vehicle is engaging in dangerous driving behavior based on motion information. Dangerous driving behavior refers to the target vehicle changing lanes within a set time period.

[0033] The lane change condition judgment module is configured to determine whether the current vehicle meets the lane change conditions for changing lanes to the adjacent lane if it is determined that the target vehicle has dangerous driving behavior.

[0034] The first driving trajectory planning module is configured to plan a first driving trajectory from the current position to the adjacent lane if it is determined that the current vehicle meets the lane change conditions, and then perform lane change according to the first driving trajectory.

[0035] Optionally, the first driving trajectory planning module is specifically configured as follows:

[0036] If it is determined that the current vehicle meets the lane change conditions when changing lanes to any adjacent lane, the first adjacent lane to which the target vehicle changes lanes is taken as the target lane, and the first driving trajectory from the current position to the target lane is planned, and the lane change is performed according to the first driving trajectory.

[0037] If it is determined that changing lanes to the first adjacent lane does not meet the lane change conditions, but changing lanes to the second adjacent lane on the other side does meet the lane change conditions, the second adjacent lane is designated as the target lane, and a first driving trajectory from the current position to the target lane is planned, and lane changing is performed according to the first driving trajectory. Optionally, the device provided in this embodiment of the invention further includes:

[0038] The second driving trajectory planning module is configured to plan a second driving trajectory if the lane change conditions are not met, and to decelerate according to the second driving trajectory. The second driving trajectory is the driving trajectory from the current position to the target lane line, where the target lane line is the lane line between the current lane and the adjacent lane.

[0039] Optionally, the lane change condition determination module is specifically configured as follows:

[0040] In the adjacent lane, determine whether there are other vehicles in the lane-changing area of ​​the current vehicle. The lane-changing area is the adjacent lane located to the side of the current vehicle, starting from a position at a first preset distance in front of the current vehicle and ending at a position at a second preset distance behind the current vehicle.

[0041] If it is determined that there are no other vehicles in the lane-changing area, then it is determined whether there is a vehicle coming from behind the lane-changing area. If it is determined that there is no vehicle coming from behind, then it is determined that the current vehicle meets the lane-changing conditions. Alternatively, if it is determined that there is a vehicle coming from behind, and the collision time TTC between the current vehicle and the vehicle coming from behind is greater than or equal to a preset time threshold, then it is determined that the current vehicle meets the lane-changing conditions.

[0042] If it is determined that there are other vehicles in the lane-changing area, or,

[0043] If, in the presence of a vehicle approaching from behind, the time-to-travel time (TTC) between the current vehicle and the vehicle approaching from behind is less than a preset time threshold, then the current vehicle is determined not to meet the lane change conditions.

[0044] Optionally, the driving behavior judgment module is specifically configured as follows:

[0045] Determine whether a target vehicle is engaging in dangerous driving behavior using the following formula:

[0046]

[0047] in,

[0048] Where y represents the function value of the risk assessment function, It is the rate of change of heading angle, a represents lateral acceleration, ω represents yaw rate, and Y represents the danger threshold.

[0049] Optionally, the apparatus provided in this embodiment of the invention further includes:

[0050] If it is determined that the target vehicle is not engaging in dangerous driving behavior, then continue following the target vehicle.

[0051] Thirdly, embodiments of the present invention provide a computer device, the computer device comprising:

[0052] At least one processor is coupled to a memory, the memory storing a program or instructions that run on the processor, the program or instructions which, when executed by the processor, implement the vehicle trajectory planning method as provided in any embodiment of the present invention.

[0053] Fourthly, embodiments of the present invention provide a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the vehicle trajectory planning method as provided in any embodiment of the present invention.

[0054] Fifthly, embodiments of the present invention provide a vehicle that includes the vehicle trajectory planning device provided in any embodiment of the present invention, or the computer equipment provided in any embodiment of the present invention.

[0055] In a sixth aspect, embodiments of the present invention provide a computer program, the computer program including program instructions, which, when executed by a computer, implement the vehicle trajectory planning method provided in any embodiment of the present invention. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1a This is a schematic diagram of a driving scenario provided in Embodiment 1 of the present invention;

[0058] Figure 1b This is a flowchart of a vehicle trajectory planning method provided in Embodiment 1 of the present invention;

[0059] Figure 1c This is a schematic diagram of dangerous driving behavior of a target vehicle provided in Embodiment 1 of the present invention;

[0060] Figure 1d This is a schematic diagram of the vehicle lane-changing space provided in Embodiment 1 of the present invention;

[0061] Figure 1e This is a schematic diagram of the first driving trajectory provided in Embodiment 1 of the present invention;

[0062] Figure 1f This is a schematic diagram of the second driving trajectory provided in Embodiment 1 of the present invention;

[0063] Figure 2 This is a structural block diagram of a vehicle trajectory planning method provided in Embodiment 2 of the present invention;

[0064] Figure 3 This is a structural block diagram of a computer device provided in Embodiment 3 of the present invention;

[0065] Figure 4 This is a schematic diagram of a vehicle provided in Embodiment 4 of the present invention. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0068] This invention discloses a vehicle trajectory planning method, apparatus, device, and medium. The application scenarios of this invention will be briefly described first, followed by a detailed introduction of the technical solution.

[0069] Example 1

[0070] The method provided in this embodiment can be applied to scenarios where the vehicle following the current vehicle is engaging in dangerous driving behavior, which is an attempt to avoid obstacles in the road. For example, Figure 1a This is a schematic diagram of a driving scenario provided in Embodiment 1 of the present invention. Figure 1a As shown, at time T1, the current vehicle ( Figure 1a The vehicle in the middle (represented by the autonomous vehicle) is following the vehicle ahead in its current lane at a close distance. There is an obstacle in front of the vehicle that poses a collision risk, such as a disabled vehicle, traffic cone, or pedestrian in the middle of the road. At this point, the vehicle ahead is unable to perceive the obstacle due to the obstruction of the vehicle ahead. At time T2, the driver of the vehicle ahead notices the obstacle late and swerves to avoid a collision. At this time, the vehicle ahead is still unaware of the obstacle due to the obstruction of the vehicle ahead and continues driving forward. At time T3, although the vehicle ahead can detect the obstacle after the vehicle ahead has changed lanes, it is already very close to it, posing a significant collision risk. If the vehicle is in manual driving mode, and the driver cannot brake in time, the vehicle ahead will collide with the obstacle. If the vehicle is in autonomous driving mode, and the vehicle fails to anticipate and plan an obstacle avoidance path when the vehicle ahead changes lanes, the vehicle ahead will also collide with the obstacle. The technical solution provided in this embodiment is that the vehicle ahead identifies dangerous driving by the vehicle ahead, for example… Figure 1a The emergency steering behavior of the vehicle in front, as shown, anticipates the risk of collision and allows the vehicle to follow the vehicle in front to avoid obstacles. The technical solution provided in this embodiment will be described in detail below.

[0071] Figure 1b This is a flowchart illustrating a vehicle trajectory planning method according to Embodiment 1 of the present invention. This method can be applied to in-vehicle terminals such as in-vehicle computers and industrial personal computers (IPCs), and can also be applied to servers; the present invention does not limit its application in this regard. The method provided in this embodiment can be applied during autonomous driving, for example, in assisted driving modes. The method provided in this embodiment can be executed by a vehicle trajectory planning device, which can be implemented through software and / or hardware. Figure 1b As shown, the method provided in this embodiment specifically includes:

[0072] S110, Determine the motion information of the target vehicle.

[0073] The target vehicle is the vehicle in front of the current vehicle that is in the same lane and is the closest to the current vehicle. In other words, the current vehicle is following the target vehicle in the current lane. Figure 1a The vehicle shown is the target vehicle traveling in front of the current vehicle. The current vehicle can detect the target vehicle through onboard sensors, such as cameras and radar, and can obtain the target vehicle's motion information, which may include heading angle information, acceleration information, and angular velocity information.

[0074] S120. Determine whether the target vehicle is engaging in dangerous driving behavior based on the motion information. If so, proceed to step S130; otherwise, proceed to step S160.

[0075] Dangerous driving behavior refers to the behavior of the target vehicle changing lanes within a set time, that is, the target vehicle making an emergency turn.

[0076] Specifically, the following formula can be used to determine whether a target vehicle is engaging in dangerous driving behavior:

[0077]

[0078] in,

[0079] Where y represents the function value of the risk assessment function, It is the rate of change of the heading angle, a represents the lateral acceleration, ω represents the yaw rate, and Y represents the danger threshold, which is an empirical value.

[0080] Specifically, Figure 1c This is a schematic diagram illustrating dangerous driving behavior of a target vehicle as provided in Embodiment 1 of the present invention. Figure 1c In the coordinate system shown, the heading angle of the vehicle following the preceding vehicle is the angle φ of the preceding vehicle's front end deviating from the y-axis. This is determined by the rate of change of the heading angle at a set time interval (e.g., 0.1 seconds). The lateral acceleration *a* and yaw rate *ω* are multiplied by their respective proportional coefficients, and the sum of these products yields the function value *y* of the hazard assessment function. If the function value *y* is greater than or equal to the hazard threshold *Y*, the target vehicle is engaged in dangerous driving behavior; if the function value *y* is less than the hazard threshold *Y*, the target vehicle is not engaged in dangerous driving behavior.

[0081] In this embodiment, when it is determined that the target vehicle is engaging in dangerous driving behavior, i.e., when it is determined that the target vehicle is about to make an emergency lane change, a collision risk obstacle can be predicted in front of the target vehicle based on this behavior. At this time, the current vehicle also needs to change lanes along with the target vehicle to avoid the collision risk. Before the current vehicle changes lanes, it is necessary to determine whether the lane change conditions are met, i.e., to execute the following step S130.

[0082] S130. Determine whether the current vehicle meets the lane change conditions for changing lanes to the adjacent lane. If yes, proceed to step S140; otherwise, proceed to step S150.

[0083] In this embodiment, when an emergency lane change by the target vehicle is anticipated, the current vehicle also needs to change lanes accordingly. Before changing lanes, it is necessary to determine whether the current vehicle's lane change to an adjacent lane meets the lane change conditions, i.e., whether the lane change space in the adjacent lane is sufficient. The lane change space, derived empirically, is the area that allows the vehicle to smoothly change lanes. Specifically, this lane change area can be defined as the area on the adjacent lane to the side of the current vehicle, starting from a first preset distance in front of the current vehicle's front end and ending at a second preset distance behind the current vehicle's rear end.

[0084] Specifically, Figure 1d This is a schematic diagram of the vehicle lane-changing space provided in Embodiment 1 of the present invention. Figure 1d As shown, the current lane-changing area for the vehicle is... Figure 1d The area shown is composed of the lane-changing area a directly to the side of the vehicle in the adjacent lane, the area b located L1 in front of the vehicle, and the area c located L2 behind the vehicle. That is, the area starts from position p1, which is L1 in front of the vehicle, and ends at position p2, which is L2 behind the vehicle.

[0085] In this embodiment, determining whether the lane-changing space between adjacent lanes is sufficient specifically includes the following judgment conditions:

[0086] The system determines whether there are other vehicles within the lane-changing area of ​​the current vehicle in the adjacent lane. If no other vehicles are found within the lane-changing area, it checks whether there are any vehicles approaching from behind. If no vehicles approach from behind, the current vehicle meets the lane-changing condition. Alternatively, if there are vehicles approaching from behind the lane-changing area, but the Time To Collision (TTC) between the current vehicle and the approaching vehicle is greater than or equal to a preset time threshold, the current vehicle meets the lane-changing condition.

[0087] If other vehicles are detected within the lane-changing area, the current vehicle is determined not to meet the lane-changing conditions. Alternatively, if a vehicle is detected approaching from behind, and the Time-to-Travel (TTC) between the current vehicle and the approaching vehicle is less than a preset time threshold, the current vehicle is determined not to meet the lane-changing conditions.

[0088] S140. Plan the first driving trajectory from the current position to the adjacent lane, and change lanes according to the first driving trajectory.

[0089] For example, if it is determined that the current vehicle meets the lane change conditions when changing lanes to any adjacent lane, the first adjacent lane to which the target vehicle changes lanes is taken as the target lane, and the first driving trajectory from the current position to the target lane is planned, that is, following the vehicle in front to change lanes is given priority.

[0090] For example, if it is determined that the current vehicle does not meet the lane change conditions when changing lanes to the first adjacent lane, but meets the lane change conditions when changing lanes to the second adjacent lane on the other side, the second adjacent lane is taken as the target lane, and a first driving trajectory from the current position to the target lane is planned, and lane changes are performed according to the first driving trajectory to avoid obstacles ahead.

[0091] In this embodiment, when the lane change conditions are met, the current vehicle can plan a first driving trajectory from its current position to the target lane, and change lanes according to the first driving trajectory. Figure 1e This is a schematic diagram of the first driving trajectory provided in Embodiment 1 of the present invention, as shown below. Figure 1e As shown, when the current vehicle detects dangerous driving behavior from the vehicle ahead, it plans a first driving trajectory 1 if there is sufficient space for lane changing. By changing lanes according to this first driving trajectory 1, a collision can be avoided if there is indeed a risky obstacle in front of the vehicle by changing lanes to other lanes in advance. It should be noted that the turn signal must be turned on during the lane change process to indicate the current vehicle's lane change behavior.

[0092] S150, plan a second driving trajectory and decelerate according to the second driving trajectory.

[0093] In this embodiment, when the lane change conditions are met, the current vehicle can plan a second driving trajectory and decelerate according to the second driving trajectory. Figure 1f This is a schematic diagram of the second driving trajectory provided in Embodiment 1 of the present invention, as shown below. Figure 1f As shown, when the current vehicle detects dangerous driving behavior from the vehicle ahead, it plans a second driving trajectory 2 when there is insufficient space for lane changing. This second driving trajectory 2 is the trajectory from the current position to a position close to the target lane line, where the target lane line is the lane line between the current lane and the adjacent lane. By adopting the above technical solution, if a collision risk obstacle suddenly appears ahead, the current vehicle will have sufficient time and distance to avoid a collision. Furthermore, during deceleration, it can also avoid a collision by making small-angle steering wheel movements, further improving the collision avoidance success rate. It should be noted that the current vehicle must activate its hazard lights while driving according to the second driving trajectory to warn other vehicles of the danger.

[0094] S160, continue following the target vehicle.

[0095] In this embodiment, during the current vehicle's journey, if the target vehicle ahead is identified as not exhibiting dangerous driving behavior based on its motion information, the current vehicle may continue to follow the target vehicle.

[0096] The technical solution provided in this embodiment identifies whether the driving behavior of the preceding vehicle is dangerous by using the vehicle's motion information. If dangerous driving behavior is detected, such as an emergency turn, a collision risk ahead can be predicted based on this dangerous behavior. Furthermore, if sufficient space is available for lane changing, the current vehicle can plan a lane-changing trajectory to follow the preceding vehicle and avoid obstacles with it. Alternatively, if insufficient space is determined, the current vehicle can plan a second trajectory from its current position to the target lane line and decelerate along the target lane line, thereby reducing the collision risk and improving the safety of autonomous driving.

[0097] Example 2

[0098] Figure 2 This is a structural block diagram of a vehicle trajectory planning device provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the device includes: a motion information determination module 210, a driving behavior judgment module 220, a lane change condition judgment module 230, and a first driving trajectory planning module 240, wherein,

[0099] The motion information determination module 210 is configured to determine the motion information of a target vehicle, which is the vehicle ahead of the current vehicle that is in the same lane as the current vehicle and is the closest to the current vehicle. The motion information includes heading angle information, acceleration information, and angular velocity information.

[0100] The driving behavior judgment module 220 is configured to determine whether the target vehicle has dangerous driving behavior based on motion information. Dangerous driving behavior refers to the target vehicle changing lanes within a set time.

[0101] The lane change condition judgment module 230 is configured to determine whether the current vehicle meets the lane change conditions for changing lanes to the adjacent lane if it is determined that the target vehicle has dangerous driving behavior.

[0102] The first driving trajectory planning module 240 is configured to plan a first driving trajectory from the current position to the adjacent lane if it is determined that the current vehicle meets the lane change conditions, and to perform lane change according to the first driving trajectory.

[0103] Optionally, the first driving trajectory planning module is specifically configured as follows:

[0104] If it is determined that the current vehicle meets the lane change conditions when changing lanes to any adjacent lane, the first adjacent lane to which the target vehicle changes lanes is taken as the target lane, and the first driving trajectory from the current position to the target lane is planned, and the lane change is performed according to the first driving trajectory.

[0105] If it is determined that the current vehicle does not meet the lane change conditions when changing lanes to the first adjacent lane, but meets the lane change conditions when changing lanes to the second adjacent lane on the other side, the second adjacent lane is taken as the target lane, and a first driving trajectory from the current position to the target lane is planned, and the lane change is performed according to the first driving trajectory.

[0106] Optionally, the apparatus provided in this embodiment of the invention further includes:

[0107] The second driving trajectory planning module is configured to plan a second driving trajectory if the lane change conditions are not met, and to decelerate according to the second driving trajectory. The second driving trajectory is the driving trajectory from the current position to the target lane line, where the target lane line is the lane line between the current lane and the adjacent lane.

[0108] Optionally, the lane change condition determination module is specifically configured as follows:

[0109] In the adjacent lane, determine whether there are other vehicles in the lane-changing area of ​​the current vehicle. The lane-changing area is the adjacent lane located to the side of the current vehicle, starting from a position at a first preset distance in front of the current vehicle and ending at a position at a second preset distance behind the current vehicle.

[0110] If it is determined that there are no other vehicles in the lane-changing area, then it is determined whether there is a vehicle coming from behind the lane-changing area. If it is determined that there is no vehicle coming from behind, then it is determined that the current vehicle meets the lane-changing conditions. Alternatively, if it is determined that there is a vehicle coming from behind, and the collision time TTC between the current vehicle and the vehicle coming from behind is greater than or equal to a preset time threshold, then it is determined that the current vehicle meets the lane-changing conditions.

[0111] If it is determined that there are other vehicles in the lane-changing area, or,

[0112] If, in the presence of a vehicle approaching from behind, the time-to-travel time (TTC) between the current vehicle and the vehicle approaching from behind is less than a preset time threshold, then the current vehicle is determined not to meet the lane change conditions.

[0113] Optionally, the driving behavior judgment module is specifically configured as follows:

[0114] Determine whether a target vehicle is engaging in dangerous driving behavior using the following formula:

[0115]

[0116] in,

[0117] Where y represents the function value of the risk assessment function, It is the rate of change of heading angle, a represents lateral acceleration, ω represents yaw rate, and Y represents the danger threshold.

[0118] Optionally, the apparatus provided in this embodiment of the invention further includes:

[0119] If it is determined that the target vehicle is not engaging in dangerous driving behavior, then continue following the target vehicle.

[0120] The vehicle trajectory planning device provided in this embodiment of the invention can execute the vehicle trajectory planning method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the above embodiments can be found in the vehicle trajectory planning method provided in any embodiment of the invention.

[0121] Example 3

[0122] Figure 3 This is a structural block diagram of a computer device provided in Embodiment 3 of the present invention, as shown below. Figure 3 As shown, the computer device includes:

[0123] At least one processor Figure 3 The image shows a processor 520.

[0124] The processor 520 is coupled to the memory 510, which stores a program or instruction that runs on the processor 520. When the program or instruction is executed by the processor 520, it implements the vehicle trajectory planning method provided in any embodiment of the present invention.

[0125] Based on the above embodiments, another embodiment of the present invention provides a vehicle that includes the apparatus as described in any of the above embodiments, or includes the computer equipment as described above.

[0126] Example 4

[0127] Figure 4 This is a schematic diagram of a vehicle provided in Embodiment 4 of the present invention. Figure 4As shown, the vehicle includes a speed sensor 61, an ECU (Electronic Control Unit) 62, a GPS (Global Positioning System) positioning device 63, and a T-Box (Telematics Box) 64. The speed sensor 61 measures the vehicle speed and uses this speed as an empirical speed for model training; the GPS positioning device 63 obtains the vehicle's current geographical location; the T-Box 64 can act as a gateway to communicate with the server; and the ECU 62 can execute the aforementioned vehicle trajectory planning method.

[0128] In addition, the vehicle may also include: a V2X (Vehicle-to-Everything) module 65, a radar 66, and a camera 67. The V2X module 65 is used to communicate with other vehicles, roadside equipment, etc.; the radar 66 or camera 67 is used to perceive road environment information in front and / or other directions to obtain raw point cloud data; the radar 66 and / or camera 67 can be configured at the front and / or rear of the vehicle.

[0129] Based on the above method embodiments, another embodiment of the present invention provides a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, causes the processor to implement the vehicle trajectory planning method as described in any of the above embodiments.

[0130] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0131] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle trajectory planning method, characterized by, The method comprises the following steps: determining motion information of a target vehicle, the target vehicle being a front vehicle located in the same lane as the current vehicle and closest to the current vehicle, the motion information comprising heading angle information, acceleration information and angular velocity information; judging whether the target vehicle has dangerous driving behavior according to the motion information, wherein the dangerous driving behavior refers to lane changing behavior of the target vehicle within a set time; if it is judged that the target vehicle has dangerous driving behavior, judging whether the current vehicle meets a lane changing condition for changing to an adjacent lane; if it is determined that the current vehicle meets the lane changing condition, planning a first driving trajectory from the current position to the adjacent lane, and changing lanes according to the first driving trajectory; if it is determined that the current vehicle does not meet the lane changing condition for changing to the adjacent lane, planning a second driving trajectory, and driving at a reduced speed according to the second driving trajectory, wherein the second driving trajectory is a driving trajectory from the current position to a target lane line close to the target vehicle, and the target lane line is a lane line between the current lane and the adjacent lane.

2. The method of claim 1, wherein, The step of planning a first driving trajectory from the current position to the adjacent lane if it is determined that the current vehicle meets the lane changing condition comprises: in a case where it is determined that the current vehicle meets the lane changing condition for changing to any adjacent lane, taking a first adjacent lane where the target vehicle changes lanes as a first target lane, and planning a first driving trajectory from the current position to the first target lane; in a case where it is determined that the current vehicle does not meet the lane changing condition for changing to the first adjacent lane, and meets the lane changing condition for changing to a second adjacent lane on the other side, taking the second adjacent lane as a target lane, and planning a first driving trajectory from the current position to the target lane.

3. The method of claim 1, wherein, The step of judging whether the current vehicle meets the lane changing condition for changing to the adjacent lane comprises: in the adjacent lane, judging whether there is another vehicle in a lane changing area of the current vehicle, wherein the lane changing area is an area in the adjacent lane located on the side of the current vehicle, and starting from a position at a first preset distance in front of the front of the current vehicle to a position at a second preset distance behind the rear of the current vehicle; if it is determined that there is no other vehicle in the lane changing area, judging whether there is a rear vehicle behind the lane changing area, and if it is judged that there is no rear vehicle, determining that the current vehicle meets the lane changing condition, or if it is judged that there is a rear vehicle, and under the condition that it is judged that a time to collision (TTC) between the current vehicle and the rear vehicle is greater than or equal to a preset time threshold, determining that the current vehicle meets the lane changing condition; if it is judged that there is another vehicle in the lane changing area, or in the case where there is the rear vehicle, if it is judged that the TTC between the current vehicle and the rear vehicle is less than the preset time threshold, determining that the current vehicle does not meet the lane changing condition.

4. The method of claim 1, wherein, The step of judging whether the target vehicle has dangerous driving behavior according to the motion information comprises: It is judged whether the target vehicle has dangerous driving behavior according to the following formula: ； wherein ; wherein a function value of a danger degree evaluation function, is a rate of change of the heading angle, a represents a lateral acceleration, a yaw rate, Y represents a danger degree threshold value.

5. The method according to claim 1 or 4, characterized in that, The method further comprises: If it is judged that the target vehicle does not have dangerous driving behavior, continue driving following the target vehicle.

6. A vehicle trajectory planning device characterized by comprising: Comprise: A motion information determination module configured to determine motion information of a target vehicle, the target vehicle being a front vehicle in the same lane as the current vehicle and closest to the current vehicle, the motion information comprising heading angle information, acceleration information and angular velocity information; A driving behavior judgment module configured to judge whether the target vehicle has dangerous driving behavior according to the motion information, wherein the dangerous driving behavior refers to the behavior of the target vehicle changing lanes within a set time; A lane change condition judgment module configured to judge whether the current vehicle meets a lane change condition to change lanes to an adjacent lane if it is judged that the target vehicle has dangerous driving behavior; A first driving trajectory planning module configured to plan a first driving trajectory from the current position to the adjacent lane and change lanes according to the first driving trajectory if it is determined that the current vehicle meets the lane change condition; A second driving trajectory planning module configured to plan a second driving trajectory and drive at a reduced speed according to the second driving trajectory if the lane change condition is not met, wherein the second driving trajectory is a driving trajectory from the current position to a target lane line close to the target lane line, and the target lane line is a lane line between the current lane and the adjacent lane.

7. The apparatus of claim 6, wherein, The lane change condition judgment module is specifically configured to: In the adjacent lane, judge whether there is another vehicle in a lane change area of the current vehicle, wherein the lane change area is an area in the adjacent lane located on the side of the current vehicle, starting from a position at a first preset distance in front of the front of the current vehicle and ending at a position at a second preset distance behind the rear of the current vehicle; If it is determined that there is no other vehicle in the lane change area, judge whether there is a rear vehicle behind the lane change area, if it is judged that there is no rear vehicle, determine that the current vehicle meets the lane change condition, or if it is judged that there is a rear vehicle, and under the condition that the time to collision (TTC) between the current vehicle and the rear vehicle is greater than or equal to a preset time threshold, determine that the current vehicle meets the lane change condition; If it is judged that there is another vehicle in the lane change area, or, In the presence of the rear vehicle, if it is judged that the TTC between the current vehicle and the rear vehicle is less than the preset time threshold, determine that the current vehicle does not meet the lane change condition.

8. A computer device, comprising: The program or instructions are executed by the processor to implement the steps of the vehicle trajectory planning method according to any one of claims 1 to 5.

9. A readable storage medium, on which a program or instructions are stored, characterized in that, The program or instructions are executed by the processor to implement the steps of the vehicle trajectory planning method according to any one of claims 1 to 5.

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