The invention discloses a method and device for planning a lane changing path in the driving process and electronic equipment, and relates to the technical field of automatic driving, and the method comprises the steps: determining a first lane changing starting point and a plurality of first lane changing ending points corresponding to a second lane when a vehicle changes a lane based on environment perception information collected in the driving process of the vehicle in a first lane; determining a plurality of first lane changing paths based on the first lane changing starting point and the plurality of first lane changing ending points; predicting the lane changing duration required by the vehicle to run to the corresponding first lane changing terminal point along the plurality of first lane changing paths and the speed parameter of the vehicle; and based on the lane changing duration and the speed parameter of the vehicle, determining a target lane changing path of the vehicle needing to change the lane to the second lane from the plurality of first lane changing paths. According to the technical scheme, when the target lane changing path is determined, the lane changing duration and the speed parameter of the vehicle are considered, so that when the lane is changed according to the target lane changing path, the abrupt control feeling can be avoided, and the driving experience feeling and the driving comfort are improved.
公开了在驾驶过程中规划变道路径的方法、装置及电子设备,涉及自动驾驶技术领域,该方法包括基于自车在第一车道行驶过程中采集的环境感知信息,确定自车变道至第二车道对应的第一变道起点和多个第一变道终点;基于第一变道起点和多个第一变道终点,确定多个第一变道路径;预测自车从沿着多个第一变道路径行驶至对应的第一变道终点需要的变道时长和自车的速度参量;基于变道时长和自车的速度参量,从多个第一变道路径中确定自车需要变道至第二车道的目标变道路径。本公开的技术方案在确定目标变道路径时考虑到了变道时长和自车的速度参量,因此,在根据目标变道路径变道时,能够避免出现控制突兀感,从而提高了驾驶体验感和驾驶舒适性。
Method and device for planning lane changing path in driving process and electronic equipment
一种在驾驶过程中规划变道路径的方法、装置及电子设备
10.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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