CN112414419A - Method and related device for planning lane change path of vehicle - Google Patents
Method and related device for planning lane change path of vehicle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The application discloses a method and a related device for planning a lane change path of a vehicle, wherein the method comprises the following steps: obtaining information of a lane change starting point A and information of a lane change end point B of a vehicle, wherein the information A comprises an A position coordinate (x)A,yA) And A orientation angle θAThe B information includes the coordinates (x) of the B positionb,yB) And B orientation angle θB(ii) a And planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral. Therefore, based on the lane change starting point information and the lane change end point information of the vehicle, the meta-cavel spiral with the extremely smooth and mild characteristics can be combined, a lane change path which is smoother and mild compared with the traditional method can be planned, and when the vehicle completes the lane change of the vehicle along the lane change path, the curvatures of the starting point and the end point of the lane change path have continuity, so that the riding comfort and the experience of vehicle passengers are improved, the abrasion of a vehicle steering system is reduced, and the hardware cost of the vehicle is reduced.
Description
Technical Field
The application relates to the technical field of automatic driving of vehicles, in particular to a method and a related device for planning a lane change path of a vehicle.
Background
With the rapid development of science and technology, the automatic driving technology of the vehicle is more and more mature, when a driver actively triggers the lane change of the vehicle or a system automatically identifies the lane change requirement of the vehicle, the active lane change control unit can determine a lane change terminal point of the vehicle by taking the center of mass of the vehicle as the lane change starting point of the vehicle and comprehensively considering the instantaneous travelable area of the vehicle, and a travelable lane change path is planned by connecting the lane change starting point and the lane change terminal point of the vehicle, so that the subsequent active lane change control unit records a target steering wheel turning angle and a target vehicle speed sequence of the vehicle obtained based on the lane change path, and automatically controls the steering wheel turning angle and the vehicle speed of the vehicle to complete the lane change of the vehicle.
Conventionally, after obtaining a lane change starting point and a lane change end point of a vehicle, an active lane change control unit plans a lane change path to mainly use a polynomial curve, and connects the lane change starting point and the lane change end point to generate a curve track as a drivable lane change path. For example, the active lane change control unit generates a lane change path of the vehicle using a cubic polynomial curve based on a lane change start point and a lane change end point of the vehicle.
However, the inventor has found through research that, since the curvature of the starting point and the ending point of the lane change path generated after the lane change is completed along the lane change path is not equal to 0 by adopting the polynomial curve, when the vehicle completes the lane change along the lane change path, the discontinuity of the curvature is embodied at the starting point and the ending point of the lane change path, thereby affecting the riding comfort of vehicle passengers and increasing the abrasion of a vehicle steering system.
Disclosure of Invention
The technical problem to be solved by the present application is to provide a method and related apparatus for planning a lane change path of a vehicle, which can plan a smoother and more gradual lane change path compared to the conventional method, and when the vehicle completes a lane change along the lane change path, curvatures at a start point and an end point of the lane change path have continuity, so as to improve riding comfort and experience of vehicle passengers, reduce wear of a steering system of the vehicle, and reduce hardware cost of the vehicle.
In a first aspect, an embodiment of the present application provides a method for planning a lane change path of a vehicle, where the method includes:
obtaining lane change starting point A information and lane change end point B information of a vehicle, wherein the A information comprises A position coordinates (x)A,yA) And A orientation angle θAThe B information comprises B position coordinates (x)B,yB) And B orientation angle θB；
And planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral.
Optionally, the meta-cavel spiral is characterized by a meta-cavel spiral arc length sELHe YuanCleat spiral curvature kELSatisfy kEL＝αELsELIn relation, the target lane change path is comprised of a plurality of meta-cavel spirals.
Optionally, the A orientation angle thetaAAnd the B orientation angle thetaBAnd when the target lane change path is 0, the target lane change path is obtained by translating and overturning 4 target meta-cavel spirals.
Optionally, if 4 target element cavel spirals are translated and turned to form an arc end point P4Wherein said planning a target lane change path for said vehicle based on said A information, said B information, and meta-caveola spiral characteristics comprises:
based on an objective optimization function
Determination of optimum arc length s by simplex methodBestAnd an optimum curvature kBest；
Based on the information A, the information B and the optimal arc length sBestAnd the optimum curvature kBestPlanning the target lane change path of the vehicle.
In a second aspect, an embodiment of the present application provides an apparatus for vehicle lane change path planning, where the apparatus includes:
an acquisition unit for acquiring lane change start point A information and lane change end point B information of a vehicle, the A information including an A position coordinate (x)A,yA) And A orientation angle θAThe B information comprises B position coordinates (x)B,yB) And B orientation angle θB；
And the planning unit is used for planning the target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral.
Optionally, the meta-cavel spiral is characterized by a meta-cavel spiral arc length sELHeyuan cavel spiral curvature kELSatisfy kEL＝αELsELIn relation, the target lane change path is comprised of a plurality of meta-cavel spirals.
Optionally, the A orientation angle thetaAAnd saidB orientation angle thetaBAnd when the target lane change path is 0, the target lane change path is obtained by translating and overturning 4 target meta-cavel spirals.
Optionally, if 4 target element cavel spirals are translated and turned to form an arc end point P4The planning unit includes:
determining a subunit for optimizing a function based on the objective
Determination of optimum arc length s by simplex methodBestAnd an optimum curvature kBest；
A planning subunit for planning based on the A information, the B information, and the optimal arc length sBestAnd the optimum curvature kBestPlanning the target lane change path of the vehicle.
In a third aspect, an embodiment of the present application provides a vehicle, including a lane change controller and a memory:
the memory is used for storing program codes and transmitting the program codes to the lane-changing controller;
the lane-changing controller is configured to execute the method for vehicle lane-changing path planning according to any one of the first aspect described above according to instructions in the program code.
In a fourth aspect, the present application provides a computer-readable storage medium for storing program code for executing the method for vehicle lane change path planning in any one of the above first aspects.
Compared with the prior art, the method has the advantages that:
by adopting the technical scheme of the embodiment of the application, the lane change starting point A information and the lane change terminal point B information of the vehicle are obtained, wherein the A information comprises an A position coordinate (x)A,yA) And A orientation angle θAThe B information includes the coordinates (x) of the B positionb,yB) And B orientation angle θB(ii) a And planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral. It can be seen thatThe lane change starting point information and the lane change end point information of the vehicle are combined with the meta-cavel spiral with the extremely smooth and mild characteristics, a lane change path which is smoother and mild compared with the traditional method can be planned, and when the vehicle completes the lane change of the vehicle along the lane change path, the curvatures of the starting point and the end point of the lane change path have continuity, so that the riding comfort and the experience of vehicle passengers are improved, the abrasion of a vehicle steering system is reduced, and the hardware cost of the vehicle is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a system framework related to an application scenario in an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for planning a lane change path of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of two goatsfoot spirals triggered from the origin according to an embodiment of the present application;
FIG. 4 is a schematic view of a meta-cavel spiral according to an embodiment of the present disclosure;
FIG. 5 shows k provided in an embodiment of the present applicationA、θA、kBAnd thetaBAll are 0 and are represented by A (x)A,yA) To B (x)B,yB) The target lane change path diagram of (1);
FIG. 6 is a schematic diagram illustrating the relationship between the curvature and the arc length of the target lane change path of FIG. 5 according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a device for planning a lane change path of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, the automatic driving technology of the vehicle is more and more mature, when a driver actively triggers the lane change of the vehicle or a system automatically identifies the lane change requirement of the vehicle, the active lane change control unit takes the mass center of the vehicle as the lane change starting point of the vehicle, comprehensively considers the instantaneous travelable area of the vehicle to determine the lane change end point of the vehicle, adopts a polynomial curve (such as a cubic polynomial curve) to connect the lane change starting point and the lane change end point to plan and generate a travelable lane change path, so that the subsequent active lane change control unit records a target steering wheel turning angle and a target vehicle speed sequence of the vehicle obtained based on the lane change path, and automatically controls the steering wheel turning angle and the vehicle speed of the vehicle to complete the lane change of the vehicle. However, the inventor has found through research that, since the curvature of the starting point and the ending point of the lane change path generated after the lane change is completed along the lane change path is not equal to 0 by adopting the polynomial curve, when the vehicle completes the lane change along the lane change path, the discontinuity of the curvature is embodied at the starting point and the ending point of the lane change path, thereby affecting the riding comfort of vehicle passengers and increasing the abrasion of a vehicle steering system.
To solve this problem, in the embodiment of the present application, information of a lane change start point a and information of a lane change end point B of a vehicle are acquired, the a information including an a position coordinate (x)A,yA) And A orientation angle θAThe B information includes the coordinates (x) of the B positionb,yB) And B orientation angle θB(ii) a And planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral. Therefore, based on the lane change starting point information and the lane change end point information of the vehicle and combined with the meta-cavel spiral with extremely smooth and mild characteristics, a lane change path which is smoother and mild compared with the traditional method can be planned, and when the vehicle completes the lane change of the vehicle along the lane change path, the curvatures of the starting point and the end point of the lane change path have continuous curvatureThe performance is improved, so that the riding comfort and the experience of vehicle passengers are improved, the abrasion of a vehicle steering system is reduced, and the hardware cost of the vehicle is reduced.
For example, one of the scenarios in the embodiment of the present application may be applied to the scenario shown in fig. 1, where the scenario includes a decision unit 101, an environment sensing unit 102, an active lane change control unit 103, a steering wheel control unit 104, and a vehicle speed control unit 105; wherein, the decision unit 101, the environment sensing unit 102, the active lane-change control unit 103, the steering wheel control unit 104 and the vehicle speed control unit 105 are arranged in the vehicle.
When the decision unit 101 detects that a driver triggers a vehicle lane change or recognizes a vehicle lane change requirement and a travelable region given by the environment sensing unit 102 allows the vehicle lane change, the decision unit 101 and the environment sensing unit 102 activate a lane change function of the active lane change control unit 103, the active lane change control unit 103 acquires lane change starting point A information and lane change end point B information of the vehicle from the decision unit 101 and the environment sensing unit 102, and the A information comprises an A position coordinate (x)A,yA) And A orientation angle θAThe B information includes the coordinates (x) of the B positionb,yB) And B orientation angle θB(ii) a And the active lane-changing control unit 103 plans a target lane-changing path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral. The active lane-changing control unit 103 obtains a target steering wheel angle and a target speed of the vehicle based on the target lane-changing path and respectively sends the target steering wheel angle and the target speed to the steering wheel control unit 104 and the vehicle speed control unit 105, so that the steering wheel control unit 104 automatically controls the steering wheel angle and the vehicle speed of the vehicle according to the target steering wheel angle and the vehicle speed control unit 105 according to the target speed to complete lane-changing of the vehicle.
It is to be understood that, in the above application scenario, although the actions of the embodiment of the present application are described as being performed by the active lane change control unit 103, the present application is not limited in terms of the subject of execution as long as the actions disclosed in the embodiment of the present application are performed.
It is to be understood that the above scenario is only one example of a scenario provided in the embodiment of the present application, and the embodiment of the present application is not limited to this scenario.
The following describes in detail a specific implementation manner of the method for planning a lane change path of a vehicle and a related apparatus in the embodiment of the present application by using an embodiment in combination with the accompanying drawings.
Exemplary method
First, referring to fig. 2, a specific implementation manner of the method for planning a lane change path of a vehicle in the embodiment of the present application is described in detail by an embodiment.
Referring to fig. 2, a flow chart of a method for planning a lane change path of a vehicle in an embodiment of the present application is shown. In this embodiment, the method may include, for example, the steps of:
step 201: obtaining lane change starting point A information and lane change end point B information of a vehicle, wherein the A information comprises A position coordinates (x)A,yA) And A orientation angle θAThe B information comprises B position coordinates (x)B,yB) And B orientation angle θB。
It can be understood that when the driver actively triggers the vehicle lane change or the system automatically identifies the vehicle lane change requirement, the active lane change control unit needs to plan a drivable lane change path; firstly, the lane change path is a curve track between the lane change end point and the lane change starting point which is determined by taking the center of mass of the current vehicle as the lane change starting point and comprehensively considering the instantaneous travelable area of the vehicle. Secondly, because the polynomial curve is adopted to obtain the curve track in the traditional method, the curvature of the starting point and the terminal point suddenly changes when the vehicle changes the lane, the problems of influencing the riding comfort of vehicle passengers and aggravating the abrasion of a vehicle steering system exist, the meta-cavel spiral with smooth and mild characteristics is required to be adopted to obtain the curve track in the embodiment of the application so as to solve the problems, and an important index of the meta-cavel spiral is the starting point orientation angle and the terminal point orientation angle. Therefore, in the embodiment of the present application, after the driver actively triggers the lane change of the vehicle or the system automatically recognizes the lane change requirement of the vehicle, the active lane change control unit first needs to obtain the position coordinate of the lane change starting point, the heading angle of the lane change starting point, the position coordinate of the lane change ending point and the heading angle of the lane change ending point.
Step 202: and planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral.
It is understood that, since the cavel spiral is also called euler spiral, the biggest characteristic of the cavel spiral is that the curvature of the curve is proportional to the arc length, i.e. k(s) ═ as, where k(s) represents the curvature of the cavel spiral where the arc length is s, k(s) is proportional to s, the proportionality coefficient is α, which is called sharpness, and the coordinate (x(s), y (s)) of a certain point on the cavel spiral where the arc length is s is as follows:
it should be noted that, as shown in fig. 3, two cavel spirals triggered from the origin point are schematically illustrated, it can be known that if one cavel spiral continuously extends, we obtain a curve with a continuously increasing curvature, which means that the curve extends inwards all the time, which is contrary to the purpose that we require to better control the curvature and the orientation angle of the lane change path (curve track), in the embodiment of the present application, a plurality of meta cavel spirals need to be used to piece together a complete curve track as the target lane change path, and the curvature of the meta cavel spiral in the meta cavel spiral is equal to the arc length s of the meta cavel spiralELIs still proportional, i.e., kEL＝αELsEL. Thus, in some embodiments of the examples herein, the meta-cavel spiral is characterized by a meta-cavel spiral arc length sELHeyuan cavel spiral curvature kELSatisfy kEL＝αELsELIn relation, the target lane change path is comprised of a plurality of meta-cavel spirals.
For example, as shown in fig. 4, a meta-cavel spiral is schematically illustrated, in which the starting point of the meta-cavel spiral is oriented at an angle of 0, the starting point curvatures are all 0, if it is defined that the sharpness of the front is positive when the meta-cavel spiral turns left, and the sharpness of the front is negative when the meta-cavel spiral turns right, the arc length s corresponding to the end point is definedELIs 4, sharpness of front αELIs-0.1. The meta-cavel spiral can be stretched, rotated and/or translated to obtain the meta-cavel spiral with any parameters.
It should be noted that, since the lane change start point and the lane change end point of the vehicle are defined as a and B, respectively, if the lane change start point heading angle of the vehicle is defined to be equal to the vehicle speed heading angle, and the vehicle steering wheel is not deflected at the lane change start point, that is, the a heading angle θAAnd A curvature kAAre all 0; meanwhile, it can be reasonably considered that the heading angle of the lane change end point of the vehicle is consistent with the heading angle of the vehicle speed, and the steering wheel of the vehicle does not deflect at the beginning point of the lane change, namely, the B heading angle thetaBAnd B curvature kBAre all 0. The planned target lane change path from a to B may be composed of 4 m-ary cavel spirals with sharpness and arc length, called target m-cavel spiral, for example, k-ary as shown in fig. 5A、θA、kBAnd thetaBAll are 0 and are represented by A (x)A,yA) To B (x)B,yB) The target lane change path of (1). Thus, in some implementations of embodiments of the present application, the A is oriented at an angle θAAnd the B orientation angle thetaBAnd when the target lane change path is 0, the target lane change path is obtained by translating and overturning 4 target meta-cavel spirals.
It should be noted that, corresponding to the above-mentioned fig. 5, based on the relationship diagram of the curvature and the arc length of the target lane-changing path shown in fig. 6, it can be known that for each target meta-cavel spiral in the target lane-changing path of the above-mentioned fig. 5, the arc length s of the meta-cavel spiral can be determinedELAnd curvature kELDescribed, in order to determine the optimum arc length sELAnd curvature kELI.e. the optimum arc length sBestAnd an optimum curvature kBestConsidering to obtain an arc end point P formed by translation and turnover of 4 target meta-cavel spirals4(sEL，kEL) And lane change end point B (x) of vehicleb，yB，θB) Should be 0. Based on this, the optimal arc length s will be determinedBestAnd an optimum curvature kBestIs converted into an optimization function for solving the targetNumber of
The objective optimization function has a simple structure, and the optimal arc length s can be obtained by adopting a simplex methodBestAnd an optimum curvature kBestCombining the information a and the information B, the target lane change path of fig. 5 can be planned. Therefore, in some embodiments of the examples of the present application, if the arc end point formed by translating and flipping 4 of the target meta-cavel spirals is P4The step 202 may comprise, for example, the steps of:
step A: based on an objective optimization function
Determination of optimum arc length s by simplex methodBestAnd an optimum curvature kBest；
And B: based on the information A, the information B and the optimal arc length sBestAnd the optimum curvature kBestPlanning the target lane change path of the vehicle.
Through various implementation modes provided by the embodiment, lane change starting point A information and lane change end point B information of the vehicle are acquired, wherein the A information comprises A position coordinates (x)A,yA) And A orientation angle θAThe B information includes the coordinates (x) of the B positionb,yB) And B orientation angle θB(ii) a And planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral. Therefore, based on the lane change starting point information and the lane change end point information of the vehicle, the meta-cavel spiral with the extremely smooth and mild characteristics can be combined, a lane change path which is smoother and mild compared with the traditional method can be planned, and when the vehicle completes the lane change of the vehicle along the lane change path, the curvatures of the starting point and the end point of the lane change path have continuity, so that the riding comfort and the experience of vehicle passengers are improved, the abrasion of a vehicle steering system is reduced, and the hardware cost of the vehicle is reduced.
Exemplary devices
Corresponding to the above exemplary method, a specific implementation manner of the related device for vehicle lane change path planning in the embodiment of the present application is described in detail below with reference to fig. 7.
Referring to fig. 7, a schematic structural diagram of an apparatus for planning a lane change path of a vehicle in an embodiment of the present application is shown. In this embodiment, the apparatus may specifically include:
an acquisition unit 701 for acquiring lane change start point a information and lane change end point B information of a vehicle, the a information including an a position coordinate (x)A,yA) And A orientation angle θAThe B information comprises B position coordinates (x)B,yB) And B orientation angle θB；
And the planning unit 702 is used for planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral.
In an alternative embodiment of the present application, the meta-cavel spiral is characterized by an arc length s of the meta-cavel spiralELHeyuan cavel spiral curvature kELSatisfy kEL＝αELsELIn relation, the target lane change path is comprised of a plurality of meta-cavel spirals.
In an alternative implementation manner of the embodiment of the present application, the a direction angle θAAnd the B orientation angle thetaBAnd when the target lane change path is 0, the target lane change path is obtained by translating and overturning 4 target meta-cavel spirals.
In an optional implementation manner of the embodiment of the present application, if an arc endpoint formed by translating and overturning 4 target meta-cavel spirals is P4The planning unit 702 includes:
determining a subunit for optimizing a function based on the objective
Determination of optimum arc length s by simplex methodBestAnd an optimum curvature kBest；
A planning subunit for planning based on the A information, the B information, and the optimal arc length sBestAnd the optimum curvature kBestPlanning the station of the vehicleThe target lane change path.
Through various implementation modes provided by the embodiment, lane change starting point A information and lane change end point B information of the vehicle are acquired, wherein the A information comprises A position coordinates (x)A,yA) And A orientation angle θAThe B information includes the coordinates (x) of the B positionb,yB) And B orientation angle θB(ii) a And planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral. Therefore, based on the lane change starting point information and the lane change end point information of the vehicle, the meta-cavel spiral with the extremely smooth and mild characteristics can be combined, a lane change path which is smoother and mild compared with the traditional method can be planned, and when the vehicle completes the lane change of the vehicle along the lane change path, the curvatures of the starting point and the end point of the lane change path have continuity, so that the riding comfort and the experience of vehicle passengers are improved, the abrasion of a vehicle steering system is reduced, and the hardware cost of the vehicle is reduced.
In addition, this application embodiment still provides a vehicle, the vehicle includes lane change controller and memory:
the memory is used for storing program codes and transmitting the program codes to the lane-changing controller;
the lane-changing controller is used for executing the method for planning the lane-changing path of the vehicle in any one of the above method embodiments according to the instructions in the program code.
The embodiment of the present application further provides a computer-readable storage medium for storing a program code, where the program code is used to execute the method for planning a lane change path of a vehicle according to any one of the above method embodiments.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application in any way. Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application. Those skilled in the art can now make numerous possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the claimed embodiments. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still fall within the protection scope of the technical solution of the present application without departing from the content of the technical solution of the present application.
Claims (10)
1. A method of vehicle lane change path planning, comprising:
obtaining lane change starting point A information and lane change end point B information of a vehicle, wherein the A information comprises A position coordinates (x)A,yA) And A orientation angle θAThe B information comprises B position coordinates (x)B,yB) And B orientation angle θB；
And planning a target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral.
2. The method of claim 1, wherein said meta-cavel spiral is characterized by a meta-cavel spiral arc length sELHeyuan cavel spiral curvature kELSatisfy kEL＝αELsELIn relation, the target lane change path is comprised of a plurality of meta-cavel spirals.
3. The method of claim 2, wherein the a orientation angle θAAnd the B orientation angle thetaBAnd when the target lane change path is 0, the target lane change path is obtained by translating and overturning 4 target meta-cavel spirals.
4. The method as claimed in claim 3, wherein if 4 of said target meta-cavel spirals are translated and inverted to form an arc ending point P4Wherein said planning a target lane change path for said vehicle based on said A information, said B information, and meta-caveola spiral characteristics comprises:
based on an objective optimization function
Determination of optimum arc length s by simplex methodBestAnd an optimum curvature kBest；
Based on the information A, the information B and the optimal arc length sBestAnd the optimum curvature kBestPlanning the target lane change path of the vehicle.
5. A vehicle lane change path planning apparatus, comprising:
an acquisition unit for acquiring lane change start point A information and lane change end point B information of a vehicle, the A information including an A position coordinate (x)A,yA) And A orientation angle θAThe B information comprises B position coordinates (x)B,yB) And B orientation angle θB；
And the planning unit is used for planning the target lane change path of the vehicle based on the information A, the information B and the characteristics of the meta-cavel spiral.
6. The apparatus of claim 5, wherein said meta-cavel spiral is characterized by a meta-cavel spiral arc length sELHeyuan cavel spiral curvature kELSatisfy kEL＝αELsELIn relation, the target lane change path is comprised of a plurality of meta-cavel spirals.
7. The device of claim 6, wherein the A orientation angle θAAnd the B orientation angle thetaBAnd when the target lane change path is 0, the target lane change path is obtained by translating and overturning 4 target meta-cavel spirals.
8. The apparatus according to claim 7, wherein if 4 of said target meta-cavel spirals are translated and flipped to form an arc ending point P4The planning unit includes:
determining a subunit for optimizing a function based on the objective
Determination of optimum arc length s by simplex methodBestAnd an optimum curvature kBest；
A planning subunit for planning based on the A information, the B information, theThe optimum arc length sBestAnd the optimum curvature kBestPlanning the target lane change path of the vehicle.
9. A vehicle, characterized in that the vehicle comprises a lane change controller and a memory:
the memory is used for storing program codes and transmitting the program codes to the lane-changing controller;
the lane-change controller is used for executing the method for vehicle lane-change path planning of any one of claims 1-4 according to instructions in the program code.
10. A computer-readable storage medium for storing program code for performing the method of vehicle lane change path planning of any of claims 1-4.
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