CN110727266B - Trajectory planning method and device, vehicle and control method and system thereof - Google Patents
Trajectory planning method and device, vehicle and control method and system thereof Download PDFInfo
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- CN110727266B CN110727266B CN201810712955.8A CN201810712955A CN110727266B CN 110727266 B CN110727266 B CN 110727266B CN 201810712955 A CN201810712955 A CN 201810712955A CN 110727266 B CN110727266 B CN 110727266B
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The invention discloses a track planning method and a device for lane changing of a vehicle, the vehicle and a control method and a system thereof, wherein the track planning method comprises the following steps: acquiring a lane change slope of a vehicle in a lane change process; obtaining the turning radius of the vehicle at the current moment; and under the constraint of the lane changing slope, generating a lane changing track of the vehicle by using the turning radius. The method can ensure that the comfort, the safety and the reliability of the vehicle during lane changing are higher.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a track planning method for vehicle lane changing, a track planning device for vehicle lane changing, a control method for a vehicle, a control system for the vehicle and the vehicle.
Background
Lane changing is one of important links in an intelligent driving system and one of the most frequent actions, and how to intelligently, safely, quickly and comfortably finish automatic lane changing of vehicles is a difficult problem faced by most of research intelligent driving teams at present. In the related art, the automatic lane change is mainly completed in the following way:
the first mode is a mode of combining high-precision positioning with a high-precision map, namely, directly generating a corresponding track on the high-precision map according to the track changing action imitating the habit of human beings, and then tracking and driving by using the high-precision positioning strictly according to the GPS longitude and latitude signals of the corresponding track;
and the second mode is a mode of using a virtual target lane center line, namely, a camera or a laser radar or a millimeter wave radar is utilized to combine with a high-precision map to predict a target point in advance, then the vehicle generates a lane change track according to the virtual target lane center line, the virtual target lane center line is replaced until a vehicle sensor identifies a real target lane center line, secondary track planning is carried out, and lane change actions are completed.
Among the main disadvantages of the first approach are: 1) the cost of hardware equipment is high, the price of a set of high-precision positioning system is much higher than that of an experimental vehicle, and the high-precision positioning system is completely not suitable for mass production and only used for experiments; 2) the intelligent lane changing system is not intelligent enough, once the lane changing of the vehicle is started, when unexpected obstacles appear on the lane changing track, the vehicle cannot avoid the obstacles; 3) the lane changing action imitating the habit of human beings needs a large amount of data for supporting, and the data acquisition is very difficult.
The main disadvantages of the second approach are: 1) results of multiple sensors are fused, so that the scheme that the vehicle is transplanted to other vehicles after the same vehicle type is trained is difficult; 2) the generation of the first lane changing track is based on the center line of the virtual target lane, and if the center line of the virtual target lane does not exist or is wrong, lane changing failure or other accidents can be caused; 3) the track changing track of the vehicle is generated twice, if the vehicle cannot run according to the generated track, the precision of vehicle control is relatively required to be very high, because after the track is generated, the factors influencing the vehicle control are many, so that the vehicle control system cannot run according to the track strictly, and finally the driving experience effect is poor.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a trajectory planning method for lane change of a vehicle, which can improve comfort, safety and reliability of the lane change of the vehicle.
A second object of the invention is to propose a control method of a vehicle.
A third object of the invention is to propose a non-transitory computer-readable storage medium.
The fourth purpose of the invention is to provide a track planning device for vehicle lane changing.
A fifth object of the present invention is to provide a control system of a vehicle.
A sixth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a trajectory planning method for lane changing of a vehicle, including the following steps: acquiring a lane change slope of a vehicle in a lane change process; obtaining the turning radius of the vehicle at the current moment; and generating a lane change track of the vehicle by using the turning radius under the constraint of the lane change slope.
According to the track planning method for vehicle lane changing, provided by the embodiment of the invention, the lane changing slope of the vehicle in the lane changing process is obtained, the turning radius of the vehicle at the current moment is obtained, and the lane changing track of the vehicle is generated by using the turning radius under the constraint of the lane changing slope. The method can ensure that the comfort, the safety and the reliability of the vehicle during lane changing are higher.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a control method of a vehicle, including: generating a lane change track for the vehicle by adopting the track planning method in the embodiment of the first aspect of the invention; and controlling the vehicle to change the track according to the track changing track.
According to the control method of the vehicle, the track changing track is generated for the vehicle through the track planning method, and the vehicle is controlled to change the track according to the track changing track, so that the comfort, the safety and the reliability of the vehicle during the track changing process can be higher.
To achieve the above object, a non-transitory computer-readable storage medium is provided in an embodiment of a third aspect of the present invention, and the program is stored on the non-transitory computer-readable storage medium, and is executed by a processor to implement the trajectory planning method for lane change of a vehicle according to the embodiment of the first aspect of the present invention.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, the comfort, the safety and the reliability of the lane change of the vehicle can be higher by the above path planning method for the lane change of the vehicle.
In order to achieve the above object, a fourth aspect of the present invention provides a trajectory planning device for changing lanes of a vehicle, including: the first acquisition module is used for acquiring a lane change slope of a vehicle in a lane change process; the second acquisition module is used for acquiring the turning radius of the vehicle at the current moment; and the track generation module is used for generating the lane change track of the vehicle by utilizing the turning radius under the constraint of the lane change slope.
According to the track planning device for vehicle lane changing, provided by the embodiment of the invention, the lane changing slope of the vehicle in the lane changing process is obtained through the first obtaining module, the turning radius of the vehicle at the current moment is obtained through the second obtaining module, and the lane changing track of the vehicle is generated by utilizing the turning radius under the constraint of the lane changing slope through the track generating module. Thus, the comfort, safety and reliability of the vehicle during lane changing can be improved.
In order to achieve the above object, an embodiment of a fifth aspect of the present invention provides a control system of a vehicle, including: the trajectory planning device according to the fourth aspect of the present invention is configured to generate a lane change trajectory for the vehicle; and the control device is used for controlling the vehicle to change the track according to the track changing track.
According to the control system of the vehicle, the track planning device generates the track changing track for the vehicle, and the control device controls the vehicle to change the track according to the track changing track, so that the comfort, the safety and the reliability of the vehicle during the track changing process can be higher.
In order to achieve the above object, a sixth aspect of the present invention provides a vehicle including the control system of the vehicle according to the fifth aspect of the present invention.
According to the vehicle provided by the embodiment of the invention, the control system of the vehicle can ensure that the comfort, the safety and the reliability of the vehicle during lane changing are higher.
Drawings
FIG. 1 is a flow chart of a trajectory planning method for lane changing of a vehicle according to an embodiment of the present invention;
FIG. 2 is a method for generating a track change trajectory when a lateral distance is greater than a predetermined distance according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the generation of a lane change trajectory at an initial time according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the generation of a lane-change trajectory when the lateral distance is greater than a predetermined distance according to an embodiment of the present invention;
FIG. 5 is a method for generating a lane change trajectory when the lateral distance is less than or equal to a predetermined distance according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the generation of a lane change trajectory when the lateral distance is less than or equal to the predetermined distance according to an embodiment of the present invention;
FIG. 7 is a flow chart of a trajectory planning method for vehicle lane change according to one embodiment of the present invention;
fig. 8 is a flowchart of a control method of a vehicle according to an embodiment of the invention;
FIG. 9 is a block diagram of a trajectory planner for lane changing of vehicles according to an embodiment of the present invention;
FIG. 10 is a block schematic diagram of a control system of a vehicle according to an embodiment of the invention;
FIG. 11 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a trajectory planning method for lane change of a vehicle, a control method of a vehicle, a non-transitory computer-readable storage medium, a trajectory planning device for lane change of a vehicle, a control system of a vehicle, and a vehicle according to an embodiment of the present invention with reference to the drawings.
Fig. 1 is a flowchart of a trajectory planning method for lane change of a vehicle according to an embodiment of the present invention. As shown in fig. 1, a trajectory planning method for lane change of a vehicle according to an embodiment of the present invention may include the following steps:
and S11, acquiring the lane change slope of the vehicle in the lane change process. And the lane change slope is the slope of a straight line corresponding to the vehicle body course angle of the vehicle.
And S12, acquiring the turning radius of the vehicle at the current moment.
And S13, generating the lane change track of the vehicle by using the turning radius under the constraint of the lane change slope.
Specifically, the lane changing action is firstly decomposed, the lane changing is actually moved from one lane to the next lane, and for the intelligent vehicle, the track of the vehicle running on the current lane is the lane center line of the current lane, namely the lane changing is moved from the lane center line of the current lane to the lane center line of the next lane. Secondly, for vehicle control, the vehicle reaches another specific vehicle body heading angle at the set steering wheel rotating speed from a certain steering wheel angle, tire angle and vehicle body heading angle at the current moment.
In order to finish the intelligent, comfortable, reasonable and effective lane changing action of the vehicle, in the embodiment of the invention, the turning radius under the corresponding vehicle speed can be formulated according to the actually measured comfort degree of human body induction when the vehicle turns, and an initial lane changing track can be calculated by utilizing a double-arc splicing algorithm according to the turning radius. Because many factors influence vehicle control, the conventional vehicle control algorithm cannot be completely covered, so that the running track of the vehicle cannot be strictly driven according to the initial lane change track, therefore, the lane change track planning method for the vehicle can acquire the lane change slope and the turning radius of the vehicle in real time in the lane change process, generate the lane change track by using the turning radius under the constraint of the lane change slope, correct the offset of vehicle control through the lane change track acquired in real time, and ensure higher comfort, safety and reliability in lane change of the vehicle.
According to one embodiment of the invention, before generating the lane change track of the vehicle by using the turning radius, the method further comprises the following steps: and acquiring the transverse distance from the vehicle to the center line of the target lane, and judging whether the transverse distance is greater than a preset distance, wherein the preset distance can be half of the distance between the center lines of two adjacent lanes.
Further, according to an embodiment of the present invention, when the lateral distance is greater than the preset distance, as shown in fig. 2, the generating the lane change trajectory of the vehicle by using the turning radius under the constraint of the lane change slope includes:
and S21, acquiring the predicted lane change terminal point of the vehicle at the current time.
And S22, taking the predicted lane change end point as a tangent point, and making an arc according to the turning radius under the constraint of the lane change slope corresponding to the predicted lane change end point (namely under the constraint of the vehicle body course angle corresponding to the predicted lane change end point) to form a first arc comprising the predicted lane change end point.
And S23, taking the current position point of the vehicle as a tangent point, and making an arc according to the turning radius under the constraint of the lane change slope corresponding to the current position point (namely under the constraint of the vehicle body course angle corresponding to the current position point) to form a second arc comprising the current position point.
And S24, splicing the first arc and the second arc to obtain a track changing track, wherein the track changing track comprises a current position point, a splicing point (an intersection point of the first arc and the second arc) and a predicted track changing end point, the current position point is a starting point of the track changing track, and the predicted track changing end point is an end point of the track changing track.
Specifically, in the lane changing process of the vehicle, the lane changing track can be generated according to the lane changing slope at the current moment and the turning radius at the current moment every preset time (for example, 50ms), so that even if the vehicle is not well controlled, the difference value between the actual track of the vehicle and the lane changing track can be corrected in time, and the lane changing of the vehicle is smoother. Before the track changing track is generated every time, whether the transverse distance from the current vehicle to the center line of the target lane is larger than a preset distance or not is judged, namely whether the vehicle finishes half track changing or not is judged, the half track changing is found not to be finished according to the experimental comfort degree test result, the track changing track obtained by adopting a double-circular-arc splicing algorithm is smoother than the track changing track obtained by adopting a single-circular-arc splicing algorithm, and the steering wheel turning angle controlled by the vehicle is smaller and smoother. Therefore, when the transverse distance from the vehicle to the center line of the target lane is greater than the preset distance, the lane changing track is obtained by adopting a double-arc splicing algorithm.
According to one embodiment of the invention, the method for acquiring the predicted lane change end point of the current time of the vehicle at the initial time comprises the following steps: determining a first point according to the transverse distance, and determining a second point according to a half of the transverse distance; determining a third point on a straight line where the first point and the second point are located according to the turning radius; determining a fourth point by utilizing a pythagorean theorem according to the second point and the third point, wherein the distance from the fourth point to the third point is the turning radius; and determining a fifth point on the central line of the target lane according to the second point, the fourth point and the first point, and taking the fifth point as a predicted lane change terminal point, wherein the distance from the fifth point to the first point is twice of the distance from the fourth point to the second point.
According to one embodiment of the invention, at an initial moment, the turning radius is obtained according to the current speed and the preset centripetal acceleration of the vehicle, wherein the preset centripetal acceleration needs to meet the comfort requirement of a user, and can be specifically calibrated according to the actual situation, and preferably the preset centripetal acceleration can be 1m/s2。
Specifically, when a lane change of the vehicle is required, a lane change trajectory at an initial time (i.e., an initial lane change trajectory) is generated first, wherein a predicted lane change end point at the initial time is acquired first when the lane change trajectory at the initial time is generated. For convenience of explanation, the following description will be given in detail by taking the case where the vehicle changes lanes to the right.
Specifically, when the vehicle needs to change lanes to the right, at the initial moment, the transverse distance L from the vehicle to the center line of the target lane is obtained through the camera, whether the transverse distance L is larger than the preset distance or not is judged, and if yes, the minimum comfortable turning radius is selected as the turning radius at the moment. Because the actual running track of the vehicle during transverse movement is formed by splicing arcs, if the steering wheel of the vehicle is fixed at a certain angle, the vehicle runs according to the arc under a certain radius, and the radius is the turning radius of the vehicle. The turning radius of the vehicle has an interval, and in a limited area, the comfort degree of the human body is different due to the fact that the same vehicle speed and different turning radii are used for the human body, so that the turning radius at the initial moment can be obtained according to the comfort degree of the human body, for example, the turning radius at the initial moment can be obtained according to the current vehicle speed v and the preset centripetal acceleration a
When a is 1m/s2When R is equal to v2。
Then, the coordinates of the vehicle are taken as a reference, namely the current position point of the vehicle is taken as an origin 0, and the transverse direction of the vehicle body is taken as an originA rectangular coordinate system is established for the X axis and the longitudinal direction of the vehicle body as the Y axis, and the predicted lane changing end point B at the initial moment is obtained under the rectangular coordinate system, so that the calculation is simpler and more convenient, and the rectangular coordinate system is established in the mode in the whole lane changing process. As shown in fig. 3, in the rectangular coordinate system, the intersection point OF the X-axis and the center line OF the target lane may be determined according to the lateral distance L, i.e., the coordinate OF the first point F is (L,0), the midpoint OF may be determined according to half OF the lateral distance L, i.e., the coordinate OF the second point E is (L/2,0), and the coordinate OF the third point a is (R,0) according to the turning radius R. The coordinates of the fourth point D can then be determined from the second point E and the third point A using the Pythagorean theorem, i.e. from DE2＝DA2-EA2And DA is equal to R, the coordinate of the fourth point D can be calculated as
Finally, according to the relation of BF 2 DE, the coordinates of the fifth point B can be determined as
The fifth point B is the predicted lane change end point B at the initial time
Wherein the content of the first and second substances,
further, at the initial time, the slope between the current position point of the vehicle and the fifth point is also obtained, and the initial slope is obtained.
Specifically, as shown in fig. 3, after obtaining the predicted lane change end point B at the initial time, the slope of OB may be calculated to obtain the initial slope
Wherein the content of the first and second substances,
suppose, at an initial time, that the vehicle is right atAt the lane central line of the current lane, the transverse distance L from the vehicle to the central line of the target lane is exactly equal to the distance between the central lines of two adjacent lanes, and when the distance between the central lines of two adjacent lanes is 3.5m, the coordinate of the predicted lane change end point B at the initial time is
Initial slope
Wherein the content of the first and second substances,
suppose that the current vehicle speed v of the vehicle is 30km/h and the preset centripetal acceleration a is 1m/s2Then the initial slope kOB＝8.85。
Further, at the initial time, as shown in fig. 3, the third point a is taken as the center of a circle, the current position point of the vehicle is taken as the starting point, and the turning radius R is taken as the radius to form an arc, so as to obtain a second arc, the second arc is tangent to the straight line where the lane change slope of the current position point of the vehicle is located at the starting point, so that the lane change track is consistent with the current vehicle body heading angle of the vehicle, and the end point of the second arc is the fourth point D. And taking the fourth point D as a starting point, extending a turning radius R on an extension line of the AD to obtain a ninth point C, taking the ninth point C as a circle center, taking the fourth point D as the starting point, and taking the turning radius R as a radius to form an arc so as to obtain a first arc, wherein the first arc is tangent to a straight line where a lane change slope of the predicted lane change terminal point B is located, so that a lane change track can be consistent with a target vehicle body course angle of the vehicle. The first arc and the second arc form a track changing track at the initial time, that is, the track changing track at the initial time is an arc ODB, and the fourth point D is a splicing point.
That is, when obtaining the lane change track of the vehicle, a bi-arc lane change track with an equal radius may be first calculated according to the lane change distance (i.e., the turning radius at the initial time), and the slope of the lane change track, that is, the slope of the connection line between the current position point of the vehicle at the initial time and the predicted lane change end point, which will be used as the target slope of the vehicle during the subsequent lane change, and at the same time, the coordinates of the predicted lane change end point at the initial time may also be calculated, and the initial lane change track may be calculated according to the coordinates of the predicted lane change end point by using the arc tangent principle.
Therefore, at the initial time of lane changing of the vehicle, according to the current position point and the current speed of the vehicle, the lane changing track and the initial slope at the initial time are calculated by using the equal-radius double-arc splicing algorithm on the premise of meeting the comfortable acceleration of the vehicle, and the vehicle is controlled to run according to the lane changing track at the initial time.
According to one embodiment of the invention, the method for acquiring the predicted lane change end point of the current time of the vehicle at the non-initial time comprises the following steps: determining a sixth point on the central line of the target lane according to the current position point and the initial slope of the vehicle; acquiring a linear equation of the center line of the target lane according to the sixth point and the lane change slope; and resolving a sixth point by using the transverse distance and a linear equation, and taking the sixth point as a predicted lane changing terminal point.
Specifically, as shown in fig. 4, in the process of changing lanes of the vehicle to the right, the lateral distance L (i.e., OD1) from the vehicle to the center line of the target lane and the slope of the center line of the target lane (i.e., lane change slope k, i.e., the slope of B1F1, where F1 is the intersection of the X-axis and the center line of the target lane) are acquired by the camera, and it is determined whether the lateral distance L is greater than a preset distance. If so, then the current position point and the initial slope k of the vehicle are used as the basisOBDetermining a sixth point B1 on the center line of the target lane, wherein the sixth point B1 is the through-origin O and has an initial slope kOBHas coordinates of (m, k) at the intersection of the straight line of (c) and the center line of the target laneOBM), where m is an unknown quantity. Then, the linear equation y ═ k (x-m) + k of the center line of the target lane can be obtained according to the sixth point B1 and the lane change slope kOBM, then, from the formula of the distance from the point to the straight line
And converting it to obtain
The coordinates of the sixth point B1 at this time are
The sixth point B1 is the predicted lane-change end point B1 at this time
After obtaining the predicted lane change end point B1, acquiring a perpendicular line of the center line of the target lane at the predicted lane change end point B1, the slope k' of the perpendicular line being-1/k, acquiring a tenth point a1 on the perpendicular line according to the turning radius R, and resolving a tenth point a1 according to the distance between a1 and B1; determining an eleventh point C1 according to the turning radius R; determining a twelfth point E1 from the tenth point a1 and the tenth point C1, wherein the twelfth point E1 is the midpoint of the tenth point a1 and the tenth point C1; the turning radius R is resolved according to the fact that the distance between the tenth point a1 and the eleventh point C1 is twice the turning radius.
Specifically, as shown in fig. 4, the slope k' of A1B1 is-1/k, according to the formula of the distance between two points on a straight line:
the distance between the two points A1B1 can be determined. Let the distance between two points A1B1 be the turning radius R, and obtain the coordinate of A1 as
The coordinates of the eleventh point C1 can be determined to be (R,0) from the turning radius R, and since the twelfth point E1 is the midpoint between the tenth point A1 and the tenth point C1, the coordinates of the twelfth point E1 can be determined to be (R,0)
From the distance between two points A1C1 equal to 2R, equation (1) can be obtained:
the turning radius R is used as an unknown number to simplify the equation (1) to obtain the equation (2):
order to
d＝kOBM, obtainable formula (3):
[a*R+b]2+[c*R-d]2＝4*R2 (3)
then, the formula (3) is simplified to obtain a formula (4):
(a2+b2-4)*R2+(2ab-2cd)*R+b2+d2＝0 (4)
finally, solving the turning radius R in the formula (4) can obtain the turning radius R:
the two solutions obtained can be rounded off by one.
And when the transverse distance from the vehicle to the center line of the target lane is determined to be greater than the preset distance according to the turning radius R, the expression of the lane changing track (the circular arc OE1B1) is as follows:
(x-R)2+y2＝R2 (6)
wherein the content of the first and second substances,
further, the air conditioner is provided with a fan,
wherein the content of the first and second substances,
in practical applications, the formula (7) may be pre-stored in the vehicle, so that the formula (7) may be directly called when in use to calculate and obtain the corresponding lane change trajectory (arc OE1B 1).
Therefore, when the distance from the vehicle to the center line of the target lane is greater than the preset distance, the double-arc spliced lane changing track can be generated according to the information such as the current vehicle body course angle (taking the current position point of the vehicle as the tangent point and making an arc under the constraint of the lane changing slope corresponding to the current position point, so that the lane changing track can be consistent with the current vehicle body course angle of the vehicle), the target position (the center line of the target lane), the target vehicle body course angle (taking the predicted lane changing terminal point as the tangent point and making an arc under the constraint of the lane changing slope corresponding to the predicted lane changing terminal point, so that the lane changing track can be consistent with the target vehicle body course angle of the vehicle) and the target slope (namely, the initial slope) of the vehicle, and the vehicle is controlled to run according to the double-arc spliced lane changing track. The turning radius is analyzed according to the initial slope, the situation that a predicted lane changing terminal point caused by the fact that the turning radius is calculated according to the current speed and the preset centripetal acceleration in the whole lane changing process is always in front of a vehicle and the vehicle cannot reach the predicted lane changing terminal point and is always in a lane changing arc can be effectively avoided, if overshoot occurs, namely the vehicle exceeds the center line of a target lane, the vehicle is out of control in running, and a safety accident is caused in serious situations.
Further, according to an embodiment of the present invention, as shown in fig. 5, when the lateral distance is less than or equal to the preset distance, the generating of the lane change trajectory of the vehicle by using the turning radius under the constraint of the lane change slope includes:
and S31, acquiring the predicted lane change terminal point of the vehicle at the current time.
And S32, taking the predicted lane change end point and the current position point of the vehicle as tangent points, and making an arc according to the turning radius under the common constraint of the lane change slope corresponding to the predicted lane change end point and the lane change slope corresponding to the current position point to form a third arc comprising the predicted lane change end point and the current position point.
And S33, taking the third arc as a track changing track, wherein the track changing track comprises a current position point and a predicted track changing end point, the current position point is the starting point of the track changing track, and the predicted track changing end point is the end point of the track changing track.
Specifically, in the lane changing process of the vehicle, if the vehicle has already completed half lane changing, the lane changing track obtained by adopting the single-arc stitching algorithm is easier to make the vehicle stable and comfortable than the lane changing track obtained by adopting the double-arc stitching algorithm, so that the lane changing track is generated by adopting the single-arc stitching algorithm when the transverse distance from the vehicle to the center line of the target lane is less than or equal to the preset distance.
According to one embodiment of the invention, obtaining a predicted lane change end point of a vehicle at a current time comprises: acquiring a linear equation of the center line of the target lane according to the transverse distance and the lane change slope; determining a seventh point according to the turning radius, and resolving the turning radius according to the distance from the seventh point to the linear equation and the linear equation, wherein the distance from the seventh point to the linear equation is the turning radius; and determining an eighth point according to the distance from the seventh point to the linear equation, and taking the eighth point as a predicted lane change end point.
Specifically, as shown in fig. 6, in the process of changing lanes of the vehicle to the right, the lateral distance L (i.e., OD2) from the vehicle to the center line of the target lane and the slope of the center line of the target lane (i.e., lane changing slope k, i.e., the slope of E2F2, where F2 is the intersection of the X-axis and the center line of the target lane) are acquired by the camera, and it is determined whether the lateral distance L is greater than a preset distance. If not, acquiring a linear equation of the center line of the target lane according to the transverse distance L and the lane changing slope k:
determining a seventh point G according to the turning radius R, wherein the coordinate of the seventh point G is (-R,0), resolving the turning radius R according to the distance from the seventh point G to the linear equation and the linear equation, wherein the distance from the seventh point G to the linear equation is the turning radius R, and resolving the turning radius R
At this time, the perpendicular line passing through the seventh point G and perpendicular to the center line of the target lane is an eighth point E2, which is a perpendicular point on the center line of the target lane, and the coordinates of the eighth point E2 are
The eighth point E2 is the predicted lane change end point E2 when the lateral distance from the vehicle to the center line of the target lane is less than the preset distance
Further, when it is determined that the lateral distance from the vehicle to the center line of the target lane is less than or equal to the preset distance according to the turning radius R, the expression of the lane change trajectory (arc OE2) is as follows:
(x-R)2+y2＝R2 (8)
wherein the content of the first and second substances,
in practical applications, the formula (8) may be pre-stored in the vehicle, so that the formula (8) may be directly called when in use to calculate and obtain the corresponding lane change trajectory (circular arc OE 2).
Therefore, when the distance from the vehicle to the center line of the target lane is less than or equal to the preset distance, the single-arc spliced lane changing track can be generated according to the information such as the current vehicle body course angle of the vehicle (the current position point of the vehicle is taken as a tangent point, and an arc is made under the constraint of the lane changing slope corresponding to the current position point, so that the lane changing track can be consistent with the current vehicle body course angle of the vehicle), the target position (the center line of the target lane), the target vehicle body course angle of the vehicle (the predicted lane changing terminal point is taken as a tangent point, and an arc is made under the constraint of the lane changing slope corresponding to the predicted lane changing terminal point, so that the lane changing track can be consistent with the target vehicle body course angle of the vehicle), and the vehicle can be controlled to run according to the single-arc spliced lane changing track. The turning radius is analyzed according to the transverse distance and the lane changing slope, the situation that the predicted lane changing terminal point caused by the fact that the turning radius is calculated according to the current vehicle speed and the preset centripetal acceleration in the whole lane changing process is always in front of the vehicle and the vehicle cannot reach the predicted lane changing terminal point and is always in a lane changing arc can be effectively avoided, if overshoot occurs, namely the vehicle exceeds the center line of a target lane, the vehicle is out of control in running, and a safety accident is caused in serious situations.
The track planning method for vehicle lane change provided by the embodiment of the invention has the following advantages:
1) the adaptability of road conditions is higher. Because the present algorithm no matter is deep learning or high accuracy location, all need gather a large amount of road conditions information, and everyone's driving custom is also different moreover, so can lead to a new road conditions probably can't pass through or make the people feel uncomfortable when passing through, and the mode of high accuracy location is more loaded down with trivial details moreover, is in and needs to gather a large amount of road conditions information, still needs to update road conditions information in real time, because real-time road conditions probably is different with the road conditions of gathering before, leads to the adaptability not high. In the application, the comfortable turning radius can be calculated according to the real-time road condition, the lane changing track is generated according to the turning radius, the vehicle is controlled to complete lane changing, and the adaptability of the road condition is effectively improved.
2) The safety and the reliability of vehicle control are higher. Because the current algorithm is to plan the track change track of the vehicle at one time, if the vehicle control does not drive according to the pre-planned track change track, the error between the actual track of the vehicle and the track change track is larger and larger, so that the safety, comfort and reliability of the vehicle are poor. In the application, the lane changing track is planned in real time, for example, a lane changing track suitable for the current position of the vehicle is generated every 50ms, so that even if the vehicle is not well controlled, the difference between the actual track of the vehicle and the lane changing track can be corrected in time, and the vehicle can run more smoothly.
3) The comfort of the vehicle control is higher. Because the track planning method is established on the basis of comfort level, reasonable comfort acceleration and deceleration, vehicle speed, steering wheel rotating speed and corresponding steering wheel rotating angles are matched with the comfort level, and the comfort level is tested on all corresponding relations, for example, the centripetal acceleration can be 1m/s2And matching for the optimal comfort degree, and obtaining a corresponding turning radius according to the current speed and centripetal acceleration of the vehicle, so that the vehicle can approach the driving behavior of the driver to the maximum extent in the lane changing process.
FIG. 7 is a flow chart of a trajectory planning method for lane changing of a vehicle according to one embodiment of the invention. As shown in fig. 7, the trajectory planning method for lane changing of the vehicle may include the following steps:
s101, starting to change lanes.
It should be noted that the beginning of lane change indicates that the vehicle has met the lane change requirement. For example, in the process of vehicle driving, signals sent by a sensing system (a camera, a millimeter wave radar, a laser radar and other sensing sensors) and a vehicle control system are acquired, including lane line information of a current lane, distance information of lane lines on two sides of a vehicle distance and one side of lane changing, vehicle speed information and the like, and then a lane changing event is triggered under the condition that a preset lane changing condition is met, so that how to judge the lane changing event can be realized by adopting the prior art, and details are not described here.
And S102, generating an initial lane changing track.
And S103, judging whether the transverse distance is greater than a preset distance. If yes, go to step S104; if not, step S105 is performed.
And S104, generating a lane changing track by adopting a double-arc splicing algorithm.
And S105, generating a lane changing track by adopting a single arc splicing algorithm.
S106, judging whether the vehicle reaches the predicted lane change terminal (or the central line of the target lane). If yes, go to step S107; if not, return to step S106.
And S107, finishing lane changing and starting to control the vehicle to run according to the lane center line generated by the lane line acquired by the camera.
In summary, according to the trajectory planning method for vehicle lane change of the embodiment of the present invention, when lane change is performed, the initial lane change trajectory and the initial slope are calculated according to the current state of the vehicle, and then the real-time lane change trajectory is divided into the double-arc splicing lane change trajectory and the single-arc splicing lane change trajectory according to the lateral distance from the vehicle to the center line of the target lane, and in the whole lane change process, all the lane change trajectories are updated and generated in real time, so that control of the vehicle can be adjusted according to the real-time road condition, and lane change of the vehicle can be smoothly completed, so that the lane change of the vehicle is more comfortable, safe and reliable.
Fig. 8 is a flowchart of a control method of a vehicle according to an embodiment of the invention.
As shown in fig. 8, the control method of the vehicle of the embodiment of the invention may include the steps of:
and S41, generating a lane changing track for the vehicle by adopting the track planning method.
And S42, controlling the vehicle to switch the track according to the track switching track.
It should be noted that, for details not disclosed in the vehicle control method according to the embodiment of the present invention, please refer to details disclosed in the trajectory planning method according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the control method of the vehicle, the track changing track is generated for the vehicle through the track planning method, and the vehicle is controlled to change the track according to the track changing track, so that the comfort, the safety and the reliability of the vehicle during the track changing process can be higher.
In addition, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor, so as to implement the trajectory planning method for lane change of a vehicle described above.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, the comfort, the safety and the reliability of the lane change of the vehicle can be higher by the above path planning method for the lane change of the vehicle.
Fig. 9 is a block diagram of a trajectory planning device for lane changing of a vehicle according to an embodiment of the present invention.
As shown in fig. 9, the trajectory planning apparatus for lane change of a vehicle according to an embodiment of the present invention may include: a first acquisition module 10, a second acquisition module 20 and a trajectory generation module 30.
The first obtaining module 10 is used for obtaining a lane changing slope of a vehicle in a lane changing process; the second obtaining module 20 is used for obtaining the turning radius of the vehicle at the current moment; the track generation module 30 is configured to generate a lane change track of the vehicle using the turning radius under the constraint of the lane change slope.
According to an embodiment of the present invention, as shown in fig. 9, the trajectory planning apparatus for changing lanes of a vehicle further includes: and the judging module 40 is configured to obtain a lateral distance from the vehicle to a center line of the target lane before the track generating module 30 generates the track change track of the vehicle by using the turning radius, and judge whether the lateral distance is greater than a preset distance.
Further, when the lateral distance is greater than the preset distance, the trajectory generation module 30 is specifically configured to obtain a predicted lane change end point of the vehicle at the current time; taking the predicted lane change end point as a tangent point, and making an arc according to the turning radius under the constraint of a lane change slope corresponding to the predicted lane change end point to form a first arc comprising the predicted lane change end point; taking the current position point of the vehicle as a tangent point, and making an arc according to the turning radius under the constraint of a lane change slope corresponding to the current position point to form a second arc comprising the current position point; and splicing the first arc and the second arc to obtain a track changing track, wherein the track changing track comprises a current position point, a splicing point and a predicted track changing end point, the current position point is the starting point of the track changing track, and the predicted track changing end point is the end point of the track changing track.
Further, when the lateral distance is less than or equal to the preset distance, the trajectory generation module 30 is specifically configured to obtain a predicted lane change end point of the vehicle at the current time; taking the predicted lane change end point and the current position point of the vehicle as tangent points, and making an arc according to the turning radius under the common constraint of a lane change slope corresponding to the predicted lane change end point and a lane change slope corresponding to the current position point to form a third arc comprising the predicted lane change end point and the current position point; and taking the third arc as a track changing track, wherein the track changing track comprises a current position point and a predicted track changing end point, the current position point is the starting point of the track changing track, and the predicted track changing end point is the end point of the track changing track.
According to an embodiment of the present invention, at the initial time, the trajectory generation module 30 is specifically configured to determine a first point according to the lateral distance, and determine a second point according to a half of the lateral distance; determining a third point on a straight line where the first point and the second point are located according to the turning radius; determining a fourth point by utilizing a pythagorean theorem according to the second point and the third point, wherein the distance from the fourth point to the third point is the turning radius; and determining a fifth point on the central line of the target lane according to the second point, the fourth point and the first point, and taking the fifth point as a predicted lane change terminal point, wherein the distance from the fifth point to the first point is twice of the distance from the fourth point to the second point.
According to an embodiment of the present invention, at the initial time, the trajectory generation module 30 is further configured to obtain a slope between the current position point of the vehicle and the fifth point, so as to obtain an initial slope.
According to an embodiment of the present invention, at the non-initial time, the trajectory generation module 30 is specifically configured to determine a sixth point on the center line of the target lane according to the current position point and the initial slope of the vehicle; acquiring a linear equation of the center line of the target lane according to the sixth point and the lane change slope; and resolving a sixth point by using the transverse distance and a linear equation, and taking the sixth point as a predicted lane changing terminal point.
According to an embodiment of the present invention, the second obtaining module 20 is specifically configured to obtain, at an initial time, a turning radius according to a current vehicle speed and a preset centripetal acceleration of the vehicle.
According to an embodiment of the present invention, the trajectory generation module 30 is specifically configured to obtain a linear equation of the center line of the target lane according to the lateral distance of the vehicle and the lane change slope; determining a seventh point according to the turning radius, and resolving the turning radius according to the distance from the seventh point to the linear equation and the linear equation, wherein the distance from the seventh point to the linear equation is the turning radius; and determining an eighth point according to the distance from the seventh point to the linear equation, and taking the eighth point as a predicted lane change end point.
It should be noted that, for details that are not disclosed in the trajectory planning device for vehicle lane changing according to the embodiment of the present invention, please refer to details that are disclosed in the trajectory planning method for vehicle lane changing according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the track planning device for vehicle lane changing, provided by the embodiment of the invention, the lane changing slope of the vehicle in the lane changing process is obtained through the first obtaining module, the turning radius of the vehicle at the current moment is obtained through the second obtaining module, and the lane changing track of the vehicle is generated by utilizing the turning radius under the constraint of the lane changing slope through the track generating module. Thus, the comfort, safety and reliability of the vehicle during lane changing can be improved.
Fig. 10 is a block schematic diagram of a control system of a vehicle according to an embodiment of the invention.
As shown in fig. 10, a control system 100 of a vehicle of an embodiment of the present invention may include: the trajectory planning device 110 and the control device 120 are described above, wherein the trajectory planning device 110 is configured to generate a lane change trajectory for the vehicle; the control device 120 is used for controlling the vehicle to switch the track according to the track switching track.
According to the control system of the vehicle, the track planning device generates the track changing track for the vehicle, and the control device controls the vehicle to change the track according to the track changing track, so that the comfort, the safety and the reliability of the vehicle during the track changing process can be higher.
FIG. 11 is a block schematic diagram of a vehicle according to an embodiment of the invention. As shown in fig. 11, a vehicle 1000 of an embodiment of the invention may include the control system 100 of the vehicle described above.
According to the vehicle provided by the embodiment of the invention, the control system of the vehicle can ensure that the comfort, the safety and the reliability of the vehicle during lane changing are higher.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, in the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (18)
1. A track planning method for lane changing of a vehicle is characterized by comprising the following steps:
acquiring a lane change slope of a vehicle in a lane change process;
obtaining the turning radius of the vehicle at the current moment;
acquiring the transverse distance from the vehicle to the center line of a target lane, and judging whether the transverse distance is greater than a preset distance;
when the transverse distance is larger than the preset distance, generating a lane changing track of the vehicle by using the turning radius under the constraint of the lane changing slope by adopting a double-arc splicing algorithm;
when the transverse distance is greater than the preset distance, generating a lane change track of the vehicle by using the turning radius under the constraint of the lane change slope by adopting a double-arc splicing algorithm, wherein the method comprises the following steps:
obtaining a predicted lane change terminal point of the vehicle at the current moment;
taking the predicted lane change end point as a tangent point, and making an arc according to the turning radius under the constraint of a lane change slope corresponding to the predicted lane change end point to form a first arc comprising the predicted lane change end point;
taking the current position point of the vehicle as a tangent point, and making an arc according to the turning radius under the constraint of a lane change slope corresponding to the current position point to form a second arc comprising the current position point;
and splicing the first circular arc and the second circular arc to obtain the track changing track, wherein the track changing track comprises the current position point, a splicing point and the predicted track changing end point, the current position point is the starting point of the track changing track, and the predicted track changing end point is the end point of the track changing track.
2. The trajectory planning method for vehicle lane change according to claim 1, wherein when the lateral distance is less than or equal to the preset distance, the generating the lane change trajectory of the vehicle using the turning radius under the constraint of the lane change slope comprises:
obtaining a predicted lane change terminal point of the vehicle at the current moment;
taking the predicted lane change end point and the current position point of the vehicle as tangent points, and making an arc according to the turning radius under the common constraint of a lane change slope corresponding to the predicted lane change end point and a lane change slope corresponding to the current position point to form a third arc comprising the predicted lane change end point and the current position point;
and taking the third arc as the track changing track, wherein the track changing track comprises the current position point and the predicted track changing end point, the current position point is the starting point of the track changing track, and the predicted track changing end point is the end point of the track changing track.
3. The method for planning a trajectory for changing lanes of a vehicle according to claim 1, wherein said obtaining a predicted lane-changing end point of the vehicle at a current time at an initial time comprises:
determining a first point according to the transverse distance, and determining a second point according to a half of the transverse distance;
determining a third point on a straight line where the first point and the second point are located according to the turning radius;
determining a fourth point by utilizing a pythagorean theorem according to the second point and the third point, wherein the distance from the fourth point to the third point is the turning radius;
and determining a fifth point on the central line of the target lane according to the second point, the fourth point and the first point, and taking the fifth point as the predicted lane change end point, wherein the distance from the fifth point to the first point is twice as long as the distance from the fourth point to the second point.
4. The method for trajectory planning for a lane change of a vehicle of claim 3, further comprising, at the initial time:
and acquiring the slope between the current position point of the vehicle and the fifth point to obtain an initial slope.
5. The method for planning a trajectory for changing lanes of a vehicle according to claim 4, wherein said obtaining a predicted lane change end point at a current time of the vehicle at a non-initial time comprises:
determining a sixth point on the center line of the target lane according to the current position point of the vehicle and the initial slope;
acquiring a linear equation of the center line of the target lane according to the sixth point and the lane change slope;
and resolving the sixth point by using the transverse distance and the linear equation, and taking the sixth point as the predicted lane change terminal point.
6. The method according to claim 3, wherein the turning radius is obtained at an initial time according to a current vehicle speed and a preset centripetal acceleration of the vehicle.
7. The method for planning a trajectory for changing lanes of a vehicle according to claim 2, wherein said obtaining a predicted lane change end point at a current time of the vehicle comprises:
acquiring a linear equation of the center line of the target lane according to the transverse distance and the lane change slope;
determining a seventh point according to the turning radius, and resolving the turning radius according to the distance from the seventh point to the linear equation and the linear equation, wherein the distance from the seventh point to the linear equation is the turning radius;
and determining an eighth point according to the distance from the seventh point to the linear equation, and taking the eighth point as the predicted lane change terminal point.
8. A control method of a vehicle, characterized by comprising the steps of:
generating a lane change trajectory for the vehicle using a trajectory planning method according to any one of claims 1-7;
and controlling the vehicle to change the track according to the track changing track.
9. A non-transitory computer readable storage medium having stored thereon a computer program, the program being executable by a processor for implementing a method for trajectory planning for a vehicle lane change according to any one of claims 1 to 7.
10. A trajectory planning device for lane changing of a vehicle is characterized by comprising:
the first acquisition module is used for acquiring a lane change slope of a vehicle in a lane change process;
the second acquisition module is used for acquiring the turning radius of the vehicle at the current moment;
the judging module is used for acquiring the transverse distance from the vehicle to the center line of a target lane and judging whether the transverse distance is greater than a preset distance;
the track generation module is used for generating a lane change track of the vehicle by using the turning radius under the constraint of the lane change slope by adopting a double-arc splicing algorithm when the transverse distance is greater than the preset distance;
wherein, when the lateral distance is greater than the preset distance, the trajectory generation module is specifically configured to,
obtaining a predicted lane change terminal point of the vehicle at the current moment;
taking the predicted lane change end point as a tangent point, and making an arc according to the turning radius under the constraint of a lane change slope corresponding to the predicted lane change end point to form a first arc comprising the predicted lane change end point;
taking the current position point of the vehicle as a tangent point, and making an arc according to the turning radius under the constraint of a lane change slope corresponding to the current position point to form a second arc comprising the current position point;
and splicing the first circular arc and the second circular arc to obtain the track changing track, wherein the track changing track comprises the current position point, a splicing point and the predicted track changing end point, the current position point is the starting point of the track changing track, and the predicted track changing end point is the end point of the track changing track.
11. The trajectory planning device for vehicle lane change according to claim 10, wherein the trajectory generation module is specifically configured to, when the lateral distance is less than or equal to the preset distance,
obtaining a predicted lane change terminal point of the vehicle at the current moment;
taking the predicted lane change end point and the current position point of the vehicle as tangent points, and making an arc according to the turning radius under the common constraint of a lane change slope corresponding to the predicted lane change end point and a lane change slope corresponding to the current position point to form a third arc comprising the predicted lane change end point and the current position point;
and taking the third arc as the track changing track, wherein the track changing track comprises the current position point and the predicted track changing end point, the current position point is the starting point of the track changing track, and the predicted track changing end point is the end point of the track changing track.
12. The trajectory planning device for vehicle lane change according to claim 10, wherein, at an initial time, the trajectory generation module is specifically configured to,
determining a first point according to the transverse distance, and determining a second point according to a half of the transverse distance;
determining a third point on a straight line where the first point and the second point are located according to the turning radius;
determining a fourth point by utilizing a pythagorean theorem according to the second point and the third point, wherein the distance from the fourth point to the third point is the turning radius;
and determining a fifth point on the central line of the target lane according to the second point, the fourth point and the first point, and taking the fifth point as the predicted lane change end point, wherein the distance from the fifth point to the first point is twice as long as the distance from the fourth point to the second point.
13. The trajectory planning device for vehicle lane changing according to claim 12, wherein at the initial time, the trajectory generation module is further configured to,
and acquiring the slope between the current position point of the vehicle and the fifth point to obtain an initial slope.
14. The trajectory planning device for vehicle lane change according to claim 13, wherein, at the non-initial time, the trajectory generation module is specifically configured to,
determining a sixth point on the center line of the target lane according to the current position point of the vehicle and the initial slope;
acquiring a linear equation of the center line of the target lane according to the sixth point and the lane change slope;
and resolving the sixth point by using the transverse distance and the linear equation, and taking the sixth point as the predicted lane change terminal point.
15. The trajectory planning device for vehicle lane change according to claim 12, wherein the second obtaining module is specifically configured to obtain the turning radius according to a current vehicle speed and a preset centripetal acceleration of the vehicle at an initial time.
16. The trajectory planning device for vehicle lane change according to claim 11, wherein the trajectory generation module is specifically configured to,
acquiring a linear equation of the center line of the target lane according to the transverse distance and the lane change slope;
determining a seventh point according to the turning radius, and resolving the turning radius according to the distance from the seventh point to the linear equation and the linear equation, wherein the distance from the seventh point to the linear equation is the turning radius;
and determining an eighth point according to the distance from the seventh point to the linear equation, and taking the eighth point as the predicted lane change terminal point.
17. A control system of a vehicle, characterized by comprising:
trajectory planning device according to any one of the claims 10-16 for generating a lane change trajectory for the vehicle;
and the control device is used for controlling the vehicle to change the track according to the track changing track.
18. A vehicle characterized by comprising the control system of the vehicle according to claim 17.
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