Method and apparatus for planning lane changing path of vehicle, and vehicle and storage medium

Abstract

A method and apparatus for planning a lane changing path of a vehicle, and a vehicle and a storage medium. The method for planning a lane changing path of a vehicle comprises: acquiring the current traveling information of a vehicle, wherein the current traveling information at least comprises the current vehicle speed, the current maximum permitted vehicle speed, the current vehicle acceleration and the current vehicle orientation angle; determining a target lane to which the vehicle changes lanes, defining, as the current permitted lane changing distance, the maximum distance required by the vehicle to change lanes to the target lane, and according to a magnitude relationship between the current vehicle speed and the current maximum permitted vehicle speed, expressing the current permitted lane changing distance as a function of a vehicle speed, an acceleration and a traveling time; planning a first lane changing boundary route according to the current permitted lane changing distance and the function of the speed, the acceleration and the traveling time, and planning a second lane changing boundary route according to the current vehicle orientation angle and the distance between the vehicle and a boundary line of the target lane; and performing secondary planning on the basis of the first lane changing boundary route and the second lane changing boundary route, so as to obtain an optimal lane changing boundary route.

Description

Vehicle lane change path planning method, device, vehicle and storage medium Technical Field

[0001] The present application relates to the field of vehicle autonomous driving technology, and more specifically, to a vehicle lane change path planning method, device, vehicle, and storage medium. Background Art

[0002] With the rapid development of technology, autonomous vehicle technology is becoming increasingly mature. When the driver actively triggers a lane change, or the system automatically recognizes a lane change requirement, the active lane change control unit plans a drivable lane change path for the vehicle based on its center of mass. Existing technologies for autonomous vehicles plan lane change curves based on traditional fixed lengths. These technologies rarely consider the vehicle's current driving state, making it difficult to ensure consistent lane change experience under varying vehicle conditions. Technical issues

[0003] The lane-changing curves of autonomous vehicles are traditionally planned based on fixed lengths. Existing technologies rarely take the vehicle's current driving state into consideration, making it difficult to ensure consistent lane-changing experience under different vehicle conditions. Technical Solutions

[0004] In order to solve the above problems, the present invention proposes a vehicle lane change path planning method, which can fully refer to the driving status of the vehicle when planning the lane change path, and ensure the consistency of the driver's physical perception when changing lanes.

[0005] In a first aspect, the present invention provides a vehicle lane change path planning method, the method comprising: obtaining current driving information of the vehicle, the current driving information including at least the current vehicle speed, the current maximum permitted speed, the current vehicle acceleration, and the current vehicle heading angle; determining a target lane for the vehicle to change lanes, defining the maximum distance required for the vehicle to change lanes to the target lane as the currently permitted lane change distance, and expressing the currently permitted lane change distance as a function of the vehicle's speed, acceleration, and driving time based on the relationship between the current vehicle speed and the currently permitted maximum vehicle speed; planning a first lane change boundary route based on the current permitted lane change distance and the function of the speed, acceleration, and driving time, and planning a second lane change boundary route based on the current vehicle heading angle and the distance between the vehicle and the boundary line of the target lane; and performing secondary planning based on the first lane change boundary route and the second lane change boundary route to obtain an optimal lane change boundary route.

[0006] In one embodiment, a maximum time limit for the vehicle to change lanes to the target lane is defined as a currently available lane change time. Expressing the current lane change distance as a function of speed, acceleration, and travel time based on the relationship between the current vehicle speed and the currently permitted maximum vehicle speed includes: when the currently permitted maximum vehicle speed is greater than or equal to the current vehicle speed, if the vehicle accelerates based on the current speed to reach the currently permitted maximum vehicle speed within the currently available lane change time, and the vehicle completes the lane change by traveling at a constant speed at the currently permitted maximum vehicle speed, then determining the lane change distance at this time as:

[0007] Where s is the lane change distance, a is the current acceleration, t1 is the duration of the acceleration process, v max is the current maximum permitted vehicle speed, and Δt is the time from the end of acceleration to the completion of lane change.

[0008] In one embodiment, expressing the current lane change distance as a function of speed, acceleration, and time further includes: when the current maximum permitted vehicle speed is greater than or equal to the current vehicle speed, if the vehicle starts at a speed of 0 and completes the lane change, calculating the lane change distance using the following formula:

[0009] Where t is the planned lane change time.

[0010] In one embodiment, expressing the current lane change distance as a function of speed, acceleration, and time further includes: when the current maximum permitted vehicle speed is less than the current vehicle speed, calculating the lane change distance using the following formula:

[0011] Among them, v cur is the current speed.

[0012] In one embodiment, a lane change time required for the vehicle to change lanes to the target lane is calculated based on the current vehicle heading angle and the distance between the vehicle and the boundary line of the target lane. Calculating the current lane change time based on the current vehicle heading angle and the distance between the vehicle and the boundary line of the target lane includes: determining the distance between the vehicle and the boundary line of the target lane and the current lateral speed of the vehicle; and calculating the current lane change time using the following formula:

[0013] in, is the current lane change time, t max is the current lane change permission time, Δl is the distance between the vehicle and the boundary line of the target lane, v lat is the current lateral speed of the vehicle.

[0014] In one embodiment, the process of calculating lane change distances at different vehicle speeds is further recorded as a dynamic lane change path function: The current lane change time allowed for the vehicle at different vehicle speeds, the distance between the vehicle and the boundary line of the target lane, and the current lateral speed are substituted to calculate the lane change path of the vehicle.

[0015] In a second aspect, the present invention also provides a device for planning a lane change path for a vehicle, the device comprising an acquisition module, a calculation module, a planning module, and an optimization module; the acquisition module is used to acquire the driving information of the vehicle; the calculation module is used to calculate the function of the currently permitted lane change distance and the current lane change time based on the driving information of the vehicle acquired by the acquisition module; the planning module is used to plan the first lane change boundary road and the second lane change boundary road; the optimization module is used to perform secondary planning based on the first lane change path and the second lane change path to obtain an optimal lane change path.

[0016] In one embodiment, the calculation module is further configured to calculate the current lane change time based on the current permitted lane change time, the distance between the vehicle and a boundary line of a target lane, and the current lateral speed of the vehicle.

[0017] In a third aspect, the present invention further provides a vehicle, which is equipped with the vehicle lane change path planning device as described in the second aspect.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium for storing program code, wherein the program code is used to execute the vehicle lane change path planning method described in any one of the second aspects. Beneficial effects

[0019] It can plan the lane change path based on the vehicle's real-time driving information, thereby improving the consistency of the vehicle driver and passengers' physical sensation when changing lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0021] FIG1 is a schematic flow chart of a vehicle lane change path planning method according to an embodiment of the present invention;

[0022] FIG2 is a schematic diagram of a dynamic time-distance lane change curve in one embodiment of the present invention;

[0023] FIG3 is a module diagram of a vehicle lane change path planning device in one embodiment of the present invention. Modes for Carrying Out the Invention

[0024] The aforementioned and other technical aspects, features, and effects of the present invention will be more clearly presented in the following detailed description of preferred embodiments with reference to the accompanying drawings. This detailed description of the embodiments will provide a deeper and more detailed understanding of the technical means and effects employed by the present invention to achieve its intended objectives. However, the accompanying drawings are provided for reference and illustration purposes only and are not intended to limit the present invention.

[0025] The terms "first," "second," "third," etc. are merely used to distinguish elements of similar nature and do not indicate or imply relative importance or a particular order.

[0026] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0027] Example 1

[0028] The present invention provides a vehicle lane change path planning method. Please refer to Figure 1, which is a schematic diagram of a vehicle lane change path planning process provided by an embodiment of the present invention.

[0029] Step S1, obtaining the current driving information of the vehicle, wherein the current driving information at least includes the current vehicle speed, the current maximum permitted vehicle speed, the current vehicle acceleration, and the current vehicle heading angle.

[0030] During vehicle movement, the driving state is constantly changing. This is especially true in special driving conditions such as lane changes and turns. The driving experience is particularly affected by vehicle speed and acceleration, which can cause vehicle roll and other conditions that affect the driving experience. Therefore, if we can obtain the vehicle's current speed, maximum permitted speed, acceleration, vehicle head angle, and other factors that may affect the driving experience in special driving conditions in advance, and plan ahead, we can provide a suitable route for the upcoming driving condition and avoid a poor driving experience for the driver and passengers.

[0031] Step S2: Determine the target lane for the vehicle to change lanes, define the maximum distance required for the vehicle to change lanes to the target lane as the currently permitted lane change distance, and express the currently permitted lane change distance as a function of the vehicle's speed, acceleration, and driving time based on the relationship between the current vehicle speed and the currently permitted maximum vehicle speed.

[0032] In actual driving, roads often have multiple lanes. If the current lane is congested or a turn or U-turn is required, lane changes may be necessary to facilitate subsequent driving. When the driver triggers a lane change signal or the vehicle automatically senses a lane change signal, a target lane is selected based on the current driving state and road conditions. While ensuring safety, a current permitted lane change distance is set. This current permitted lane change distance is related to the traffic conditions and the vehicle's own driving state. Lane changes within this current permitted lane change distance must be smooth and not affect the driving of other vehicles.

[0033] The current vehicle speed and the current maximum permitted vehicle speed are determined, and the corresponding current permitted lane change distance is determined according to different vehicle speeds.

[0034] When the current vehicle speed is less than the current maximum permitted speed, the current permitted lane change distance is determined as Where s is the lane change distance, a is the current acceleration, t1 is the duration of the acceleration process, v max is the current maximum permitted vehicle speed, and Δt is the time from the end of acceleration to the completion of lane change.

[0035] When the current vehicle speed is less than the current maximum permitted speed and the current vehicle speed is 0, the current permitted lane change distance is determined as Where t is the planned lane change time.

[0036] When the current vehicle speed is greater than or equal to the current maximum permitted speed, the current permitted lane change distance is determined as Among them, V cur is the current speed.

[0037] Step S3: planning a first lane change boundary route based on a function of the current permitted lane change distance and speed, acceleration, and travel time, and planning a second lane change boundary route based on the current vehicle heading angle and the distance between the vehicle and the boundary line of the target lane.

[0038] Step S4: performing secondary planning based on the first lane change boundary route and the second lane change boundary route to obtain an optimal lane change boundary route.

[0039] Please refer to FIG2 , which is a schematic diagram of a dynamic time-distance lane change curve in an embodiment of the present invention.

[0040] Explanation of terms:

[0041] Pathboundary: refers to the path boundary, that is, the set of explicitly constrained variable ranges and paths represented by functions. Typically, it is a boundary used during optimization, but it can also be used to detect invalid matches and failure detection.

[0042] Referenceline: A reference line for an optimization algorithm. It calculates an optimal path based on the objective function and constraints. This reference line can be used to evaluate the effectiveness of the optimization algorithm and to analyze performance issues related to the optimization algorithm when solving specific problems.

[0043] Path curve: It is a visualization tool used by optimization algorithms to solve problems. It can help analyze the impact of parameter values ​​on the objective function and constraints.

[0044] In this embodiment, first, a reference line is used to help identify the optimal path between the first lane change path and the second lane change path. Then, a path boundary is used to help limit the parameter search area to ensure that the search results are correct. Finally, a path curve is used to help identify the interaction between parameters to better understand the ultimate accuracy and reliability of the optimized lane change path.

[0045] Determine the current direction angle of the vehicle, determine the distance between the current vehicle and the boundary line of the target lane to be changed, and then determine the current lane change time in, is the current lane change time, t max is the current allowed lane change time, Δl is the distance between the current vehicle and the boundary line of the target lane to be changed, v lat is the current lateral velocity of the vehicle.

[0046] The calculation of the lane change distance at different vehicle speeds determined in step 2 is recorded as function S(v,t), and the current lane change distance is finally recorded as function and

[0047] The first lane change boundary route is planned based on the vehicle's calculated lane change distance at different speeds and the speed, acceleration, and time required for the lane change under the corresponding operating conditions. The second lane change boundary route is planned based on the vehicle's current head orientation angle and the distance between the vehicle and the boundary line of the target lane. The first lane change boundary route tends to be a theoretical plan based on driving conditions and is an idealized lane change route. The second lane change boundary route is a driving route planned based on the vehicle's head orientation and the actual lateral distance required for the lane change and is a possible lane change route used during actual driving. However, in actual driving, in addition to the vehicle's driving conditions, multiple factors such as actual road conditions must be considered. Therefore, lane change planning based solely on driving conditions or solely on the vehicle's angle and actual distance is not a perfect lane change method. Therefore, based on the first and second lane change boundary routes, a secondary planning is performed in combination with other changing factors to determine the optimal lane change path.

[0048] Preferably, this embodiment utilizes the Operator Splitting Quadratic Program (OSQP) to perform quadratic planning on the first lane change path and the second lane change path. The advantage of using OSQP for quadratic planning is that the OSQP function can provide an efficient and scalable optimization solution and can be applied in real time to constraints that change at runtime. Compared with other optimization algorithms, OSQP can effectively handle large or large-scale optimization problems while meeting real-time requirements. Vehicles may encounter various emergencies during driving, and lane changes occur at any time during driving, so timely planning is even more necessary. The characteristics of OSQP's efficient and real-time optimization solutions make it more practical in the field of autonomous driving.

[0049] Example 2

[0050] The present invention further provides a vehicle lane change path planning device. Please refer to FIG3 , which is a schematic diagram of a module of a vehicle lane change path planning device according to an embodiment of the present invention.

[0051] Referring to FIG3 , the lane change path planning device includes an acquisition module (1), a calculation module (2), a planning module (3), and an optimization module (4); the acquisition module (1) is used to acquire the driving information of the vehicle; the calculation module (2) is used to calculate the function of the current permitted lane change distance and the current lane change time based on the driving information of the vehicle acquired by the acquisition module; the planning module (3) is used to plan the first lane change boundary road and the second lane change boundary road; and the optimization module (4) is used to perform secondary planning based on the first lane change path and the second lane change path to obtain an optimal lane change path.

[0052] In this embodiment, the calculation module (2) is further configured to calculate the current lane change time based on the current permitted lane change time, the distance between the vehicle and the boundary line of the target lane, and the current lateral speed of the vehicle.

[0053] Example 3

[0054] The present invention also provides a vehicle, which is equipped with the lane change path planning device described in Example 2.

[0055] Example 4

[0056] The present invention also provides a computer-readable storage medium, which is used to store program code, and the program code is used to execute the vehicle lane change path planning method described in any one of the embodiments.

[0057] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with the present profession can make some changes or modifications to equivalent embodiments of the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A vehicle lane change path planning method, characterized in that: include: Acquiring current driving information of the vehicle, wherein the current driving information at least includes current vehicle speed, current maximum permitted vehicle speed, current vehicle acceleration, and current vehicle heading angle; Determine a target lane for the vehicle to change lanes, define a maximum distance required for the vehicle to change lanes to the target lane as a currently permitted lane change distance, and express the currently permitted lane change distance as a function of the vehicle's speed, acceleration, and travel time according to a magnitude relationship between the current vehicle speed and the currently permitted maximum vehicle speed; Planning a first lane change boundary route according to a function of the current permitted lane change distance and speed, acceleration and travel time, and planning a second lane change boundary route according to the current vehicle heading angle and the distance between the vehicle and the boundary line of the target lane; Secondary planning is performed based on the first lane change boundary route and the second lane change boundary route to obtain an optimal lane change boundary route.

2. The vehicle lane change path planning method according to claim 1, characterized in that: Defining the longest time limit for the vehicle to change lanes to the target lane as the current available lane change time, and expressing the current lane change distance as a function of speed, acceleration and driving time according to the magnitude relationship between the current vehicle speed and the current permitted maximum vehicle speed includes: When the current maximum permissible vehicle speed is greater than or equal to the current vehicle speed, if the current maximum permissible vehicle speed is reached after acceleration based on the current speed within the current available lane change time, and the lane change is completed by driving at a constant speed at the current maximum permissible vehicle speed, the lane change distance at this time is determined as: Where, s is the lane change distance, a is the current acceleration, t1 is the duration of the acceleration process, v max is the current maximum permitted vehicle speed, and Δt is the time from the end of acceleration to the completion of lane change.

3. The vehicle lane change path planning method according to claim 2, characterized in that: The method of expressing the current lane change distance as a function of speed, acceleration and time also includes: When the current maximum permitted vehicle speed is greater than or equal to the current vehicle speed, if the vehicle starts at a speed of 0 and completes the lane change, the lane change distance is calculated using the following formula: Where t is the planned lane change time.

4. The vehicle lane change path planning method according to claim 3, characterized in that: The method of expressing the current lane change distance as a function of speed, acceleration and time also includes: When the current maximum permitted vehicle speed is less than the current vehicle speed, the lane change distance is calculated using the following formula: Among them, V cur is the current speed.

5. The vehicle lane change path planning method according to claim 1, characterized in that: Calculating a lane change time required for the vehicle to change lanes to the target lane according to the current vehicle heading angle and the distance between the vehicle and a boundary line of the target lane; The calculating the current lane change time according to the current heading angle of the vehicle and the distance between the vehicle and the boundary line of the target lane comprises: determining the distance between the vehicle and the boundary line of the target lane and the current lateral speed of the vehicle; The current lane change time is calculated using the following formula: in, is the current lane change time, t max is the current permitted lane change time, Δl is the distance between the vehicle and the boundary line of the target lane, v lat is the current lateral speed of the vehicle.

6. The vehicle lane change path planning method according to claim 5, characterized in that: Also includes: The lane change distance calculation process at different vehicle speeds is recorded as the dynamic lane change path function The current permitted lane change time corresponding to the vehicle at different vehicle speeds, the distance between the vehicle and the boundary line of the target lane, and the current lateral speed are substituted to calculate the lane change path of the vehicle.

7. A device for planning a lane change path for a vehicle, characterized in that: The device includes an acquisition module, a calculation module, a planning module, and an optimization module; The acquisition module is used to acquire the driving information of the vehicle; The calculation module is used to calculate the function of the current permitted lane change distance and the current lane change time according to the driving information of the vehicle acquired by the acquisition module; The planning module is used to plan the first lane change boundary road and the second lane change boundary road; The optimization module is used to perform secondary planning based on the first lane change path and the second lane change path to obtain an optimal lane change path.

8. The device for planning a lane change path for a vehicle according to claim 7, characterized in that: The calculation module is further used to calculate the current lane change time according to the current permitted lane change time, the distance between the vehicle and the boundary line of the target lane, and the current lateral speed of the vehicle.

9. A vehicle, characterized in that: The vehicle is equipped with the vehicle lane change path planning device described in claims 7-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program code, and the program code is used to execute the vehicle lane change planning method according to any one of claims 1-6.

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