The embodiment of the invention discloses a lane changing trajectory planning method and device, electronic equipment and a storage medium. The method comprises the following steps: when a lane changing request is received, acquiring an environment perception result and map data; when the lane changing condition is met, multiple initial lane changing tracks of the vehicle are generated; for each initial lane changing track, acquiring a first driving parameter of the vehicle at each moment included in the initial lane changing track data, and for any surrounding vehicle, acquiring a second driving parameter of the surrounding vehicle at each moment and a third driving parameter of a target vehicle corresponding to the surrounding vehicle at each moment from an environment sensing result; based on a preset motion model, determining each predicted trajectory of the surrounding vehicle under the influence of the initial lane changing trajectory; and screening each initial lane changing trajectory based on each corresponding predicted trajectory to obtain screened lane changing trajectories, and determining a final lane changing trajectory in each screened lane changing trajectory. By applying the scheme provided by the embodiment of the invention, the accuracy of lane changing trajectory planning can be improved.

    本申请实施例公开一种变道轨迹规划方法、装置、电子设备及存储介质。该方法包括:当接收到变道请求时,获取环境感知结果和地图数据;满足变道条件时,生成自车的多条初始变道轨迹;针对每条初始变道轨迹,获取该初始变道轨迹数据中包括的各时刻自车的第一行驶参数,针对任一周围车辆,从环境感知结果中获取该周围车辆各时刻的第二行驶参数,以及该周围车辆对应目标车辆各时刻的第三行驶参数,基于预设运动模型,确定该周围车辆在该初始变道轨迹影响下的各预测轨迹;基于对应的各预测轨迹对每条初始变道轨迹进行筛选,得到筛选后变道轨迹,在各筛选后变道轨迹中确定一最终变道轨迹。应用本申请实施例提供的方案,能够提高变道轨迹规划的准确性。


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    Title :

    Lane changing trajectory planning method and device, electronic equipment and storage medium


    Additional title:

    一种变道轨迹规划方法、装置、电子设备及存储介质


    Contributors:
    QIAO XIAOLI (author)

    Publication date :

    2025-04-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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