CN109814575A - Vehicle lane change route planning method, device and terminal - Google Patents
Vehicle lane change route planning method, device and terminal Download PDFInfo
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Abstract
The present invention proposes a kind of vehicle lane change route planning method, device and terminal, which comprises selects lane change curvilinear function according to the motion profile shape of vehicle；Multiple location informations of vehicle are obtained, and each position information is substituted into respectively in lane change curvilinear function, fitting obtains a plurality of lane change curve；The corresponding loss of each lane change curve is calculated, and selects the loss of lane change curve less than the lane change curve of threshold value.Lane change curvilinear function is selected according to the motion profile shape of vehicle, the location information of vehicle is substituted into lane change curvilinear function, fits shape lane change curve similar with the motion profile shape of vehicle, improves the stability of lane change curve.It calculates since the influence of the factors such as barrier leads to the loss of lane change curve, improves the true controllability of lane change curve.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of vehicle lane change route planning method, device and end
End.
Background technique
In recent years, unmanned vehicle has obtained the extensive concern of domestic and international academia and industry, and Related Supporting Technologies have
Quick development.Usually by selection such as multinomial, the general purpose function of helical etc. is fitted lane change route, by adjusting in function
Parameters plan lane change route.However, during fitting general purpose function, parameter on the line style of lane change route influence compared with
To be indirect, line style freedom degree is high, and controllability stability is poor, and the lane change route of fitting is caused to be inaccurate.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle lane change route planning method, device and terminal, at least solve with up to
A few technical problem.
In a first aspect, the embodiment of the invention provides a kind of vehicle lane change route planning methods, comprising:
Lane change curvilinear function is selected according to the motion profile shape of vehicle；
Multiple location informations of the vehicle are obtained, and each location information is substituted into the lane change curvilinear function respectively
In, fitting obtains a plurality of lane change curve；
The corresponding loss of each lane change curve is calculated, and the lane change for selecting the loss of the lane change curve to be less than threshold value is bent
Line.
In one embodiment, lane change curvilinear function is selected according to the motion profile shape of vehicle, comprising:
Select hyperbolic tangent function f (x) as lane change curvilinear function, f (x)=a tanh according to the motion profile of vehicle
(ex)+b+cx+d/x, wherein parameter a is the lane distance after lane and change before changing between lane, and parameter b is the change
The start position of road curve, parameter c are the first freedom degree coefficients, and parameter d is the second freedom degree coefficient, and parameter e is the lane change
Length of a curve.
In one embodiment, multiple location informations of the vehicle are obtained, and by each location information generation respectively
Enter in the lane change curvilinear function, fitting obtains a plurality of lane change curve, comprising:
For the origin information and endpoint information for obtaining the vehicle as location information, the origin information has included point
Set, starting point headstock towards and starting point headstock towards change rate, the endpoint information includes final position, terminal headstock direction；
Multiple location informations are substituted into respectively in the hyperbolic tangent function f (x), multiple parameters combination, institute is calculated
Stating parameter combination includes parameter a, parameter b, parameter c, parameter d and parameter e；
A plurality of lane change curve is drawn according to the parameter combination.
In one embodiment, the corresponding loss of each lane change curve is calculated, comprising:
Calculate the smoothness loss of each lane change curve；
Judge whether the motion profile of each barrier intersects with the lane change curve co-insides, if being overlapped intersection, calculates
Obtained coincidence length is as collision loss；
The sum of the smoothness loss and described collision loss obtain the corresponding loss of the lane change curve.
Second aspect, the embodiment of the invention also provides a kind of vehicle lane change route planning devices, comprising:
Lane change curvilinear function selecting module, for selecting lane change curvilinear function according to the motion profile shape of vehicle；
Lane change curve fitting module is divided for obtaining multiple location informations of the vehicle, and by each location information
It does not substitute into the lane change curvilinear function, fitting obtains a plurality of lane change curve；
Lane change curve screening module for calculating the corresponding loss of each lane change curve, and selects the lane change curve
Loss be less than threshold value lane change curve.
In one embodiment, the lane change curvilinear function selecting module, comprising:
Hyperbolic tangent function selecting unit selects hyperbolic tangent function f (x) as change for the motion profile according to vehicle
Road curvilinear function, f (x)=a tanh (ex)+b+cx+d/x, wherein parameter a is after lane and change before changing between lane
Lane distance, parameter b are the start positions of the lane change curve, and parameter c is the first freedom degree coefficient, and parameter d is second free
Coefficient is spent, parameter e is the lane change length of a curve.
In one embodiment, the lane change curve fitting module includes:
Location information acquiring unit, the origin information and endpoint information for obtaining the vehicle are as location information, institute
Stating origin information includes start position, starting point headstock direction and starting point headstock towards change rate, and the endpoint information includes eventually
Point position, terminal headstock direction；
Parameter calculation unit is calculated for substituting into multiple location informations in the hyperbolic tangent function f (x) respectively
It is combined to multiple parameters, the parameter combination includes parameter a, parameter b, parameter c, parameter d and parameter e；
Lane change Drawing of Curve unit, for drawing a plurality of lane change curve according to the parameter combination.
In one embodiment, the lane change curve costing bio disturbance module includes:
Smoothness loss computing unit, for calculating the smoothness loss of each lane change curve；
Collision loss computing unit, for judge each barrier motion profile whether with the lane change curve co-insides phase
It hands over, if being overlapped intersection, the coincidence length being calculated is as collision loss；
Total losses computing unit obtains the lane change curve pair for the sum of the smoothness loss and the collision loss
The loss answered.
The third aspect, the embodiment of the invention provides a kind of vehicle lane change route planning terminal, the function can pass through
Hardware realization can also execute corresponding software realization by hardware.The hardware or software include it is one or more with it is above-mentioned
The corresponding module of function.
It include processor and memory, institute in the structure of vehicle lane change route planning terminal in a possible design
State memory for store support vehicle lane change route planning side in the above-mentioned first aspect of vehicle lane change route planning terminal execution
The program of method, the processor is configured to for executing the program stored in the memory.The vehicle lane change route rule
Drawing terminal can also include communication interface, for vehicle lane change route planning terminal and other equipment or communication.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage mediums, for storing vehicle lane change road
Computer software instructions used in line device for planning comprising for executing vehicle lane change route planning side in above-mentioned first aspect
Method is program involved in vehicle lane change route planning device.
A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that according to the motion profile of vehicle
Shape selects lane change curvilinear function, and the location information of vehicle is substituted into lane change curvilinear function, the fortune of shape and vehicle is fitted
The dynamic similar lane change curve of trajectory shape, improves the stability of lane change curve.It calculates since the influence of the factors such as barrier is led
The loss of mutagens road curve improves the true controllability of lane change curve.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is a kind of vehicle lane change route planning method flow chart provided in an embodiment of the present invention；
Fig. 2 is another vehicle lane change route planning method flow chart provided in an embodiment of the present invention；
Fig. 3 is a kind of vehicle lane change route planning device block diagram provided in an embodiment of the present invention；
Fig. 4 is another vehicle lane change route planning device block diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of vehicle lane change route planning terminal schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
Embodiment one
In a specific embodiment, as shown in Figure 1, providing a kind of vehicle lane change route planning method, including such as
Lower step:
Step S10: lane change curvilinear function is selected according to the motion profile shape of vehicle.
Step S20: obtaining multiple location informations of vehicle, and each position information substituted into respectively in lane change curvilinear function,
Fitting obtains a plurality of lane change curve.
Step S30: the corresponding loss of each lane change curve is calculated.
Step S40: the loss of selection lane change curve is less than the lane change curve of threshold value.
In a kind of example, the more similar function curve of line style and lane change curve itself can be taken, extracts become later
Road curvilinear function, the parameter in lane change curvilinear function can directly affect curve shape, by adjustment parameter value to lane change song
The line style of line is adjusted.Wherein, parameter may include the lane spacing before lane change and after lane change, lane change length of a curve and
Start position etc..Since the specific value of parameter is unknown, so, by the way that the location information of vehicle is substituting to lane change curvilinear function
In, obtain the specific value of parameters.Location information may include start position, final position, starting point headstock direction, starting point
Headstock towards change rate, terminal headstock towards etc..In present embodiment, a plurality of lane change song is fitted by obtaining multiple location informations
Line, according to the selective optimal curve out of actual traffic situation.
Since vehicle is during lane change, the influence of the smoothness of barrier and lane change will receive, and by obstacle
The collision loss of object.Therefore, the lane change curve for selecting loss to be less than threshold value in a plurality of lane change curve is bent as final lane change
Line.Or all calculate the loss of each lane change curve, select the bent as final lane change of loss reduction lane change curve
Line.
In one embodiment, as shown in Fig. 2, step S10, comprising:
Step S101: select hyperbolic tangent function f (x) as lane change curvilinear function, f (x) according to the motion profile of vehicle
=a tanh (ex)+b+cx+d/x, wherein parameter a is the lane distance after lane and change before changing between lane, parameter b
It is the start position of lane change curve, parameter c is the first freedom degree coefficient, and parameter d is the second freedom degree coefficient, and parameter e is lane change
Length of a curve.
In a kind of example, parameter a, parameter b, parameter c and parameter d are by by multiple groups start position, terminal position
It sets, starting point headstock direction, the data of starting point headstock towards change rate, terminal headstock direction wait for calculating into hyperbolic tangent function
It obtains.Wherein, parameter a can be the distance between the lane center before lane change and lane center after lane change.Parameter b can
With the end of the traveling straight line before lane change, meet the position of joining place between traveling straight line and lane change curve, headstock side
To the change rate in headstock direction is all equal, and guarantee smoothly connects.Parameter e can be the end of the travel route before lane change
The length of a curve formed between the head end of travel route behind end and lane change.Parameter c and parameter d enable to lane change curve with
It is seamlessly transitted between the travel route after travel route and lane change before lane change.
It should be pointed out that the lane change curvilinear function of selection includes but is not limited to hyperbolic tangent function, it can also be other
The curve of type determines lane change curve letter according to motion profile shape of the vehicle under different traffic environments during lane change
Several classes of types, in the protection scope of present embodiment.
In one embodiment, as shown in Fig. 2, step S20, comprising:
Step S201；For the origin information and endpoint information for obtaining vehicle as location information, origin information has included point
Set, starting point headstock towards and starting point headstock towards change rate, endpoint information includes final position, terminal headstock direction；
Step S202；Multiple location informations are substituted into hyperbolic tangent function f (x) respectively, multiple parameters group is calculated
It closes, parameter combination includes parameter a, parameter b, parameter c, parameter d and parameter e；
Step S203: a plurality of lane change curve is drawn according to parameter combination.
In a kind of example, using start position s as independent variable, the distance l of start position s run-off-road center line L makees
It for dependent variable, brings into hyperbolic tangent function f (x), constitutes the first equation.By start position s run-off-road center line L away from
From l as independent variable, first derivative, that is, starting point headstock of l, as dependent variable, is brought into hyperbolic tangent function f (x) towards m,
Constitute second equation.Using the distance l of start position s run-off-road center line L as independent variable, second dervative, that is, starting point vehicle of l
Head, as dependent variable, is brought into hyperbolic tangent function f (x) towards change rate k, constitutes third equation.Final position s ' is inclined
It is used as independent variable from lane center L ' distance l ', first derivative, that is, terminal headstock of l ' is used as dependent variable towards m ', brings into
Into hyperbolic tangent function f (x), the 4th equation is constituted.By the distance l ' of final position s ' run-off-road center line L ' as certainly
Second dervative, that is, terminal headstock of variable, l ' is used as dependent variable towards change rate k ', brings into hyperbolic tangent function f (x), structure
At the 5th equation.Obtain a parameter combination by above-mentioned five equation calculations, i.e. parameter a, parameter b, parameter c, parameter d and
Parameter e.Similarly, multiple location informations are updated in hyperbolic tangent function, obtain multiple parameters combination, and then draw out a plurality of change
Road curve.
In one embodiment, as shown in Fig. 2, in step S30, the corresponding loss of each lane change curve, packet are calculated
It includes:
Step S301: the smoothness loss of each lane change curve is calculated.
Step S302: judging whether the motion profile of each barrier intersects with lane change curve co-insides, if being overlapped intersection,
The coincidence length being calculated is as collision loss.
Step S303: the sum of smoothness loss and collision loss obtain the corresponding loss of lane change curve.
In a kind of example, can choose the present position of vehicle is starting point, obtains origin information, select 3~7 it is different
Terminal obtains endpoint information, substitutes into hyperbolic tangent function, draws out 3~7 lane change curves.Then, to each curve,
Smoothness loss of the integrated square of each rank inverse of distance l as the traveling straight line joining place before lane change curve and lane change,
Wherein, distance l refers to the offset distance of start position s run-off-road center line L.Will distance l ' each rank it is reciprocal square product
The smoothness loss of traveling straight line joining place after being allocated as lane change curve and lane change, wherein distance l ' refers to final position s '
The offset distance of run-off-road center line L ', using the integrated square of all-order derivative as smoothness loss.The one of offset distance
Order derivative can indicate that headstock direction, the second dervative of offset distance can indicate headstock towards change rate, and three ranks of offset distance are led
Number can indicate with vehicle is practical take when the directly related parameter of body-sensing.Certainly, the quantity of lane change curve can be according to practical feelings
Condition is adaptively adjusted, in the protection scope of present embodiment.
It can be carried out by the prediction module of automatic driving vehicle come the motion profile of the barrier to other vehicles etc. pre-
It surveys, obtains the prediction locus of barrier.It calculates and is overlapped length between the prediction locus and lane change curve of barrier, grown being overlapped
Spend the collision loss as lane change curve and this barrier.
Embodiment two
In a kind of specific embodiment, as shown in figure 3, additionally providing a kind of vehicle lane change route planning device, wrap
It includes:
Lane change curvilinear function selecting module 10, for selecting lane change curvilinear function according to the motion profile shape of vehicle；
Lane change curve fitting module 20 substitutes into respectively for obtaining multiple location informations of vehicle, and by each position information
In lane change curvilinear function, fitting obtains a plurality of lane change curve；
Lane change curve costing bio disturbance module 30, for calculating the corresponding loss of each lane change curve；
Lane change curve screening module 40, for selecting the loss of lane change curve to be less than the lane change curve of threshold value.
In one embodiment, as shown in figure 4, lane change curvilinear function selecting module 10, comprising:
Hyperbolic tangent function selecting unit 101, for selecting hyperbolic tangent function f (x) to make according to the motion profile of vehicle
For lane change curvilinear function, f (x)=a tanh (ex)+b+cx+d/x, wherein parameter a be before changing lane and change after lane it
Between lane distance, parameter b is the start position of lane change curve, and parameter c is the first freedom degree coefficient, and parameter d is second freely
Coefficient is spent, parameter e is lane change length of a curve.
In one embodiment, as shown in figure 4, lane change curve fitting module 20 includes:
Location information acquiring unit 201, the origin information and endpoint information for obtaining the vehicle as location information,
The origin information includes start position, starting point headstock direction and starting point headstock towards change rate, and the endpoint information includes
Final position, terminal headstock direction；
Parameter calculation unit 202 is calculated for substituting into multiple location informations in hyperbolic tangent function f (x) respectively
Multiple parameters combination, parameter combination includes parameter a, parameter b, parameter c, parameter d and parameter e；
Lane change Drawing of Curve unit 203, for drawing a plurality of lane change curve according to parameter combination.
In one embodiment, as shown in figure 4, lane change curve costing bio disturbance module 30 includes:
Smoothness loss computing unit 301, for calculating the smoothness loss of each lane change curve；
Collision loss computing unit 302, for judge each barrier motion profile whether with lane change curve co-insides phase
It hands over, if being overlapped intersection, the coincidence length being calculated is as collision loss；
Total losses computing unit 303 obtains the corresponding loss of lane change curve for the sum of smoothness loss and collision loss.
Embodiment three
The embodiment of the invention provides a kind of vehicle lane change route planning terminals, as shown in Figure 5, comprising:
Memory 400 and processor 500 are stored with the computer journey that can be run on processor 500 in memory 400
Sequence.Processor 500 realizes the vehicle lane change route planning method in above-described embodiment when executing the computer program.Memory
400 and processor 500 quantity can for one or more.
Communication interface 600 is communicated for memory 400 and processor 500 with outside.
Memory 400 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 400, processor 500 and the independent realization of communication interface 600, memory 400, processor 500
And communication interface 600 can be connected with each other by bus and complete mutual communication.The bus can be industrial standard
Architecture (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
Component) bus or extended industry-standard architecture (EISA, Extended Industry Standard
Component) bus etc..The bus can be divided into address bus, data/address bus, control bus etc..For convenient for expression, Fig. 5
In only indicated with a thick line, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 400, processor 500 and communication interface 600 are integrated in one piece
On chip, then memory 400, processor 500 and communication interface 600 can complete mutual communication by internal interface.
Example IV
A kind of computer readable storage medium is stored with computer program, realization when described program is executed by processor
Embodiment one include it is any as described in vehicle lane change route planning method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (10)
1. a kind of vehicle lane change route planning method characterized by comprising
Lane change curvilinear function is selected according to the motion profile shape of vehicle；
Multiple location informations of the vehicle are obtained, and each location information is substituted into respectively in the lane change curvilinear function,
Fitting obtains a plurality of lane change curve；
The corresponding loss of each lane change curve is calculated, and selects the loss of the lane change curve less than the lane change curve of threshold value.
2. the method according to claim 1, wherein selecting lane change curve letter according to the motion profile shape of vehicle
Number, comprising:
Select hyperbolic tangent function f (x) as lane change curvilinear function, f (x)=atanh (ex)+b+ according to the motion profile of vehicle
Cx+d/x, wherein parameter a is the lane distance after lane and change before changing between lane, and parameter b is the lane change curve
Start position, parameter c are the first freedom degree coefficients, and parameter d is the second freedom degree coefficient, and parameter e is the length of the lane change curve
Degree.
3. according to the method described in claim 2, it is characterized in that, obtain multiple location informations of the vehicle, and by each institute
It states location information to substitute into respectively in the lane change curvilinear function, fitting obtains a plurality of lane change curve, comprising:
As location information, the origin information includes start position, rises the origin information and endpoint information for obtaining the vehicle
Towards change rate, the endpoint information includes final position, terminal headstock direction for point headstock direction and starting point headstock；
Multiple location informations are substituted into respectively in the hyperbolic tangent function f (x), multiple parameters combination, the ginseng is calculated
It includes parameter a, parameter b, parameter c, parameter d and parameter e that array, which is closed,；
A plurality of lane change curve is drawn according to the parameter combination.
4. the method according to claim 1, wherein calculating the corresponding loss of each lane change curve, comprising:
Calculate the smoothness loss of each lane change curve；
Judge whether the motion profile of each barrier intersects with the lane change curve co-insides, if being overlapped intersection, is calculated
Coincidence length as collision loss；
The sum of the smoothness loss and described collision loss obtain the corresponding loss of the lane change curve.
5. a kind of vehicle lane change route planning device characterized by comprising
Lane change curvilinear function selecting module, for selecting lane change curvilinear function according to the motion profile shape of vehicle；
Lane change curve fitting module, for obtaining multiple location informations of the vehicle, and by each location information generation respectively
Enter in the lane change curvilinear function, fitting obtains a plurality of lane change curve；
Lane change curve screening module for calculating the corresponding loss of each lane change curve, and selects the damage of the lane change curve
Lose the lane change curve for being less than threshold value.
6. device according to claim 5, which is characterized in that the lane change curvilinear function selecting module, comprising:
Hyperbolic tangent function selecting unit selects hyperbolic tangent function f (x) as lane change song for the motion profile according to vehicle
Line function, f (x)=atanh (ex)+b+cx+d/x, wherein parameter a is the lane after lane and change before changing between lane
Distance, parameter b are the start positions of the lane change curve, and parameter c is the first freedom degree coefficient, and parameter d is the second freedom degree system
Number, parameter e is the lane change length of a curve.
7. device according to claim 6, which is characterized in that the lane change curve fitting module includes:
Location information acquiring unit, the origin information and endpoint information for obtaining the vehicle are as location information, and described
Point information includes start position, starting point headstock direction and starting point headstock towards change rate, and the endpoint information includes terminal position
It sets, terminal headstock direction；
Parameter calculation unit is calculated more for substituting into multiple location informations in the hyperbolic tangent function f (x) respectively
A parameter combination, the parameter combination include parameter a, parameter b, parameter c, parameter d and parameter e；
Lane change Drawing of Curve unit, for drawing a plurality of lane change curve according to the parameter combination.
8. device according to claim 5, which is characterized in that the lane change curve costing bio disturbance module includes:
Smoothness loss computing unit, for calculating the smoothness loss of each lane change curve；
Collision loss computing unit, for judging whether the motion profile of each barrier intersects with the lane change curve co-insides,
If being overlapped intersection, the coincidence length being calculated is as collision loss；
It is corresponding to obtain the lane change curve for the sum of the smoothness loss and described collision loss for total losses computing unit
Loss.
9. a kind of vehicle lane change route planning terminal characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any in claim 1-4.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any in claim 1-4 is realized when row.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329263A (en) * | 2019-07-05 | 2019-10-15 | 西南交通大学 | The adaptive lane-change method for planning track of automatic driving vehicle |
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