CN113799798A

CN113799798A - Method and device for determining driving track of vehicle, electronic equipment and memory

Info

Publication number: CN113799798A
Application number: CN202110997308.8A
Authority: CN
Inventors: 陈鹏旭
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-12-17
Anticipated expiration: 2041-08-27
Also published as: CN113799798B

Abstract

The disclosure provides a method and a device for determining a driving track of a vehicle, electronic equipment and a memory, and relates to the field of computers, in particular to the field of automatic driving. The specific implementation scheme is as follows: determining at least one target variable of a target vehicle driving to a target lane, wherein the target lane is a lane to which the target vehicle is predicted to change from a current lane; collecting sampling values of at least one target variable; determining at least one travel path function of the target vehicle based on the at least one sampled value; acquiring a target value of at least one running track function, wherein the target value is used for representing the smoothness of running of the target vehicle under the control of the running track function; and obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.

Description

Method and device for determining driving track of vehicle, electronic equipment and memory

Technical Field

The present disclosure relates to the field of computers, and in particular, to a method and an apparatus for determining a driving trajectory of a vehicle in the field of automatic driving, an electronic device, and a memory.

Background

Currently, in an automatic driving scenario, when determining a lane change trajectory of a vehicle, a search method is usually used, for example, an a-x algorithm, an artificial potential field method, and the like.

However, in the above method, the search step size is difficult to determine, which makes the determination of lane change trajectory inefficient in a complex and extensive planning environment.

Disclosure of Invention

The disclosure provides a method and a device for determining a driving track of a vehicle, electronic equipment and a memory.

According to an aspect of the present disclosure, there is provided a method of determining a travel track of a vehicle, including: determining at least one target variable of a target vehicle driving to a target lane, wherein the target lane is a lane to which the target vehicle is predicted to change from a current lane; collecting sampling values of at least one target variable; determining at least one travel path function of the target vehicle based on the at least one sampled value; acquiring a target value of at least one running track function, wherein the target value is used for representing the smoothness of running of the target vehicle under the control of the running track function; and obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.

According to another aspect of the present disclosure, there is also provided a device for determining a travel track of a vehicle, including: a first determination unit, configured to determine at least one target variable of a target vehicle traveling to a target lane, where the target lane is a lane to which the target vehicle is expected to change from a current lane; the acquisition unit is used for acquiring the sampling value of at least one target variable; a second determination unit for determining at least one travel path function of the target vehicle on the basis of the at least one sampling value; a first obtaining unit, configured to obtain a target value of at least one driving track function, where the target value is used to represent a smoothness of driving of the target vehicle under the control of the driving track function; and a second obtaining unit, configured to obtain a lane change trajectory based on the obtained target value of the at least one travel trajectory function, where the lane change trajectory is used to change the target vehicle from the current lane to the target lane.

According to another aspect of the present disclosure, an electronic device is also provided. The electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the apparatus for determining a driving trajectory of a vehicle of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is also provided a non-transitory computer readable storage medium having computer instructions stored thereon. The computer instructions are for causing a computer to execute a travel track determination apparatus of an embodiment of the present disclosure.

According to another aspect of the present disclosure, a computer program product is also provided. The computer program product may comprise a computer program which, when executed by a processor, implements the determination apparatus of a travel trajectory of an embodiment of the present disclosure.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart of a method of determining a travel path of a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a target vehicle lane change in accordance with an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a vehicle travel track determination apparatus according to an embodiment of the present disclosure;

fig. 4 is a schematic block diagram of an electronic device in accordance with an embodiment of the disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The embodiment of the disclosure provides a method for determining a driving track of a vehicle.

Fig. 1 is a flowchart of a method of determining a travel trajectory of a vehicle according to an embodiment of the present disclosure. As shown in fig. 1, the method may include the steps of:

step S102, at least one target variable of the target vehicle on the target lane is determined.

In the technical solution provided in the above step 102 of the present disclosure, the target lane is a lane to which the target vehicle is predicted to change from the current lane.

In this embodiment, the target vehicle may be an autonomous vehicle (end of vehicle) in an autonomous driving scenario. In the process of changing the lane of the target vehicle from the current lane to the target lane, a reasonable lane changing track needs to be planned. The embodiment may determine at least one target variable of the target vehicle traveling to the target lane to plan the lane change trajectory.

Alternatively, the target lane has an end position of the target vehicle, which is a certain point on the target lane, the end speed may be a certain speed along the target lane, and the end acceleration is set to 0. Alternatively, the at least one target variable of the embodiment is a sampling variable and may be set based on the end position and the end speed, for example, the at least one target variable may be a longitudinal distance variable, a longitudinal speed variable and a lane change time variable, where the longitudinal distance variable may be an end longitudinal distance variable and may be represented by s _ end (or s), the longitudinal speed variable may be an end longitudinal speed variable and may be represented by v _ end (or v), and the lane change time variable may be a total lane change time variable and may be represented by t _ total (or t).

Step S104, sampling values of at least one target variable are collected.

In the technical solution provided in the above step 104 of the present disclosure, after determining at least one target variable of the target vehicle driving to the target lane, sampled values of the at least one target variable may be collected.

In this embodiment, the sampling values of the at least one target variable may be the sampling speed of the longitudinal speed variable, the sampling time of the lane change time variable, and the longitudinal distance of the longitudinal distance variable, for example, the sampling speed of the longitudinal speed variable may be 10m/s, 20m/s, and 30m/s, the sampling time of the lane change time variable may be 2s, 4s, 6s, and 8s, and the longitudinal distance of the longitudinal distance variable may be 20m, 40m, 60m, 80 m, and 100 m, which is not limited herein.

The embodiment can set the value range of the lane change time variable according to actual requirements, for example, the sampling time range of the lane change time variable is required to be time t 1-t 2, and the sampling time range is started from t 1-t 2 and is reduced along with the lane change of the target vehicle. For example, if the target vehicle has traveled a dt time in the lane change, the sampled time range of the lane change time variable may become t1-dt to t 2-dt.

The embodiment may determine the sampling range of the terminal longitudinal speed variable according to the sampling range of the lane change time variable, the current speed at which the target vehicle travels, and the maximum acceleration maximum deceleration of the target vehicle, where the maximum acceleration is an acceleration physically greater than 0 and the maximum deceleration is an acceleration physically less than 0. Alternatively, the sampled minimum speed of the longitudinal speed variable of this embodiment may be the speed to which the target vehicle can reduce from the current speed of the target vehicle for a maximum sampling time at which the vehicle can decelerate to the maximum deceleration, and the sampled maximum speed of the longitudinal speed variable may be the speed to which the target vehicle can increase from the current speed of the target vehicle for a maximum acceleration.

The embodiment can calculate the longitudinal distance sampling range of the longitudinal distance variable according to the sampling speed of the longitudinal speed variable and the sampling time of the lane change time variable.

Step S106, at least one running track function of the target vehicle is determined based on the at least one sampling value.

In the technical solution provided in the above step 106 of the present disclosure, after sampling values of at least one target variable, at least one travel trajectory function of the target vehicle may be determined based on the at least one sampling value.

In this embodiment, trajectory parameterization may be represented using a polynomialThe travel trajectory function, for example, may be a fifth order polynomial, which may be expressed as f (x) Ax⁵+Bx⁴+Cx³+Dx²+ Ex + F, where a-F are coefficients to be determined, x may be used to represent time, and F (x) may be used to represent a travel trajectory function of the target vehicle.

This embodiment may determine the coordinates in the vertical lane line direction as the abscissa of the travel track, which may be represented by l, and the coordinates in the lane line direction as the ordinate of the travel track, which may be represented by s, based on the target coordinate system, which may be the lane line coordinate system. For the sampled values of the at least one variable, at least one travel path function of the target vehicle may be calculated, which may include at least a lateral travel path function and a longitudinal travel path function. The transverse travel track function, namely a track transverse expression, is related to a longitudinal distance variable, and the longitudinal travel track function, namely a track longitudinal expression, is related to a longitudinal speed variable and a lane change time variable. For example, a function l(s) ═ a of the transverse travel path can be calculated from the different sampled values s _ end of the longitudinal distance variable₁s⁵+B₁s⁴+C₁s³+D₁s²+E₁s + F1, and for the sampled different longitudinal speed variable v _ end and lane change time variable t _ total, a longitudinal travel track function s (t) a can be calculated₂t⁵+B₂t⁴+C₂t³+D₂t²+E₂t+F2。

Step S108, obtaining at least one target value of the running track function.

In the technical solution provided in the above step 108 of the present disclosure, after determining at least one traveling track function of the target vehicle based on at least one sampling value, a target value of the at least one traveling track function may be obtained, where the target value is used for representing a smoothness of the target vehicle traveling under the control of the traveling track function.

In this embodiment, the target value of the at least one driving trajectory function may be a weight value, which may be a cost value (cost) of the path, for characterizing how smooth the target vehicle is driving under the control of the driving trajectory function, such as the speed, acceleration, jerk, etc. of the target vehicle as a whole on the path. Alternatively, to ensure the smoothness of the target vehicle, the acceleration and jerk should be as low as 0, but actually to accomplish some lane-changing tasks, the acceleration and jerk may not be 0, but may be as low as possible.

And step S110, obtaining a lane change track based on the obtained target value of at least one running track function.

In the technical solution provided in the above step 110 of the present disclosure, after the target value of at least one traveling track function is obtained, a lane change track is obtained based on the obtained target value of at least one traveling track function. Wherein the lane-changing trajectory is used for changing the lane of the target vehicle from the current lane to the target lane

In this embodiment, the transverse travel track function and the longitudinal track function may be fused based on the target value of the transverse travel track function and the target value of the longitudinal travel track function, and the lane change track of the target vehicle in the world coordinate system may be calculated through coordinate conversion.

After the lane change trajectory is obtained, the target vehicle may be controlled to change the lane onto the target lane along the lane change trajectory.

Through the steps S102 to S110, determining at least one target variable of the target vehicle traveling to a target lane, where the target lane is a lane to which the target vehicle is expected to switch from a current lane; collecting sampling values of at least one target variable; determining at least one travel path function of the target vehicle based on the at least one sampled value; acquiring a target value of at least one running track function, wherein the target value is used for representing the smoothness of running of the target vehicle under the control of the running track function; and obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane. That is to say, the method and the device achieve the purpose of determining the lane change track of the target vehicle by determining at least one target variable of the target vehicle on the target lane and performing fusion processing on the track running track function through the target value of the at least one track running track function, thereby solving the technical problem that the reasonable lane change track cannot be planned in the lane change process of the automatic driving vehicle and achieving the technical effect of planning the reasonable lane change track in the lane change process of the automatic driving vehicle.

The above method of this embodiment is further described below.

As an alternative embodiment, step S108, obtaining the target value of at least one driving trajectory function, includes: acquiring a first target value of a transverse travel track function and a second target value of a longitudinal travel track function, wherein the first target value is used for representing the smoothness degree of the target vehicle traveling under the control of the transverse travel track function, and the second target value is used for representing the smoothness degree of the target vehicle traveling under the control of the longitudinal travel track function; step S110, obtaining a lane change trajectory based on the obtained target value of at least one travel trajectory function, including: and carrying out fusion processing on the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain the lane change track.

In this embodiment, when obtaining the target value of at least one of the travel track functions is implemented, a first target value of the lateral travel track function may be obtained, and the first target value may be used to represent the smoothness of the travel of the target vehicle under the control of the lateral travel track function, for example, where l(s) ═ a is calculated₁s⁵+B₁s⁴+C₁s³+D₁s²+E₁Weight of s + F1; this embodiment may also obtain a second target value of the longitudinal travel trajectory function, which may be used to characterize how smooth the target vehicle is traveling under the control of the longitudinal travel trajectory function, e.g., as calculated s (t) ═ a₂t⁵+B₂t⁴+C₂t³+D₂t²+E₂Weight of t + F2. Thereby in factWhen obtaining the lane change trajectory based on the obtained target value of at least one travel trajectory function, the lane change trajectory may be obtained by performing fusion processing on the transverse travel trajectory function and the longitudinal travel trajectory function based on the first target value and the second target value. Alternatively, a series of first target values of the lateral travel trajectory function and second target values of the longitudinal travel trajectory function may be calculated, respectively, and the lane change trajectory may be determined based on the first target values and the second target values.

As an optional implementation manner, performing fusion processing on the transverse travel track function and the longitudinal travel track function based on the first target value and the second target value to obtain a lane change track, includes: the lane change trajectory is generated based on the lateral travel trajectory function associated with the sample value corresponding to the first target value and the longitudinal travel trajectory function associated with the sample value corresponding to the second target value.

In this embodiment, when the lane change trajectory is obtained by performing the fusion process of the lateral travel trajectory function and the longitudinal travel trajectory function based on the first target value and the second target value, the sample value corresponding to the first target value may be a sample value of a longitudinal distance variable in the lateral travel trajectory function corresponding to a minimum target value of the first target values of the series of lateral travel trajectory functions, the sample value corresponding to the second target value may be a sample value corresponding to a longitudinal speed variable and a sample value corresponding to a lane change time variable in the longitudinal travel trajectory function corresponding to a minimum target value of the second target values of the series of longitudinal travel trajectory functions, the lane change trajectory is generated based on the lateral travel trajectory function associated with the sample value corresponding to the first target value and the longitudinal travel trajectory function associated with the sample value corresponding to the second target value, that is, the lane-change trajectory may be uniquely determined by the sampled values of the longitudinal distance variable, the sampled values corresponding to the longitudinal speed variable, and the sampled values corresponding to the lane-change time variable, and the corresponding lateral travel trajectory function and the longitudinal travel trajectory function.

As an alternative embodiment, the at least one target variable includes a longitudinal distance variable traveled by the target vehicle onto the target lane, wherein obtaining the first target value of the lateral travel trajectory function includes: acquiring a plurality of first sampling values of a longitudinal distance variable; determining a plurality of lateral travel trajectory functions based on the plurality of first sample values; a plurality of first target values corresponding to the plurality of lateral travel trajectory functions are determined.

In this embodiment, when the first target value of the transverse travel track function is obtained, the longitudinal distance variable may be sampled to obtain a plurality of first sample values, for example, the longitudinal distance variable s _ end is sampled to obtain a plurality of first sample values of 20 meters, 40 meters, 60 meters, 80 meters and 100 meters, and a corresponding transverse travel track function may be obtained by calculating different first sample values, so as to obtain a plurality of transverse travel track functions, for example, l(s)1, l(s)2, l(s)3 …, where each transverse travel track function has a corresponding first target value, for example, a cost value, so that a plurality of first target values corresponding to the plurality of transverse travel track functions, that is, a series of weight values of l(s) are obtained by calculation.

As an alternative embodiment, the at least one target variable includes a longitudinal speed variable and a lane change time variable of the target vehicle traveling to the target lane, wherein obtaining the second target value of the longitudinal travel trajectory function includes: under a first target sampling value, acquiring a plurality of second sampling values of the longitudinal speed variable and a plurality of third sampling values of the corresponding lane change time variable, wherein the first target sampling value is a first sampling value corresponding to a minimum first target value in a plurality of first target values; determining a plurality of longitudinal travel trajectory functions based on the plurality of second sample values and the corresponding plurality of third sample values; a plurality of second target values corresponding to the plurality of longitudinal travel trajectory functions are determined.

In this embodiment, a minimum first target value may be selected from the plurality of first target values, and then the transverse travel track function corresponding to the minimum first target value may be determined, for example, the relationship between l(s)2, and l(s) and s may be uniquely determined, so that the transverse travel track function l(s) corresponding to the minimum first target value may be determined₂Is determined as a first target sample value, e.g. the first target sample value iss-40 m. Under the first target sampling value, a plurality of second sampling values of the longitudinal speed variable and a plurality of third sampling values of the corresponding lane change time variable may be obtained, the first target sampling value may be fixed, the longitudinal speed variable is sampled, and the plurality of second sampling values are obtained, for example, the plurality of second sampling values v _ end may be 10m/s, 20m/s, and 30m/s, and the lane change time variable t _ total is sampled, and the plurality of third sampling values are obtained, for example, the plurality of third sampling values may be 2s, 4s, 6s, and 8 s.

After obtaining the second sampling values and the third sampling values, a longitudinal track travel track function may be calculated for different sampled second sampling values and third sampling values, so as to obtain a plurality of longitudinal track travel track functions, that is, the longitudinal travel track function is determined by the first target sampling value, the different second sampling values and the third sampling values, and may be a series of first longitudinal distances s (t)₁，s(t)₂，s(t)₃…, a plurality of second target values corresponding to the plurality of longitudinal travel trajectory functions are determined, and the second target values may be cost values.

As an optional implementation, the method further comprises: determining a second target sampling value and a third target sampling value, wherein the second target sampling value is a second sampling value corresponding to a minimum second target value in a plurality of second target values, and the third target sampling value is a third sampling value corresponding to the minimum second target value; the method for fusing the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain the lane change track comprises the following steps: and determining the lane change track based on the longitudinal running track function corresponding to the second target sampling value and the third target sampling value and the transverse running track function corresponding to the first target sampling value.

In this embodiment, a minimum second target value may be selected from the plurality of second target values, and then the longitudinal travel trajectory function corresponding to the minimum second target value may be determined, for example, s (t)₂Thereby, the longitudinal driving track function s (t) corresponding to the minimum second target value can be determined₂And the third sample value, the second sample value is determined as a second target sample value, e.g., the second target sample value may be v ═ 10m/s, and the third sample value is determined as a third target sample value, for example, the third target sample value may be t ═ 4s, therefore, when the transverse running track function and the longitudinal running track function are fused based on the first target value and the second target value to obtain the lane change track, the lane change track can be determined based on the longitudinal running track function corresponding to the second target sampling value and the third target sampling value together, and the transverse running track function corresponding to the first target sampling value, the transverse and longitudinal tracks of the lane-change track can be determined by the transverse travel track function corresponding to the first target sampling value, and the second target sampling value and the third target sampling value are uniquely determined through corresponding longitudinal running track functions. For example, the second target sampling value and the third target sampling value share a corresponding longitudinal driving track function s (t)₂And a transverse driving track function l(s) corresponding to the first target sampling value₂Determining lane change track, that is, the horizontal and vertical tracks of the lane change track can be uniquely determined as a group l(s)₂And s (t)₂Optionally, the embodiment fuses l(s) and s (t) obtained, and calculates the lane change trajectory in the world coordinate system through coordinate transformation.

The optimal values of the final sampling result corresponding to the lane change trajectory in this embodiment are the first target sampling value, the second target sampling value, and the third target sampling value, which are used to indicate that the entire lane change time is the third target sampling value, during which time the target vehicle has traveled forward by the first target sampling value, and when the third target sampling value, the lane change has reached the target lane, and the longitudinal speed is the second target sampling value. Therefore, for any time t from 0 to the third target sample value, the longitudinal distance (longitudinal displacement) of the time t can be obtained according to the transverse travel track function corresponding to the first target sample value, and the longitudinal distance is substituted into the longitudinal travel track function corresponding to the second target sample value and the third target sample value, so that the transverse distance (displacement) at the time can be obtained.

For example, in this embodiment, a longitudinal distance variable s is sampled, the obtained sampling values are 20 meters, 40 meters, 60 meters, 80 meters and 100 meters, and for different sampled sampling values s, a corresponding transverse travel track function l(s) can be obtained by calculation, for example, a series of l(s) can be obtained₁，l(s)₂，l(s)₃…, a transverse trajectory function may be selected from which the cost value is the smallest, e.g., l(s)₂L(s) of₂The relation with s can be uniquely determined, for example, when s is 40m, that is, when s is 40m, cost is minimum, l(s) can be uniquely determined₂. And (4) continuing to sample the longitudinal speed variable and the lane change time variable t when s is fixed to be 40 meters, for example, sampling the longitudinal speed variable speed v _ end to obtain sampling values of 10m/s, 20m/s and 30m/s, and sampling the lane change time variable t _ total to obtain sampling values of 2s, 4s, 6s and 8 s. For different sampled values v _ end and t _ total, a corresponding longitudinal driving track function s (t) can be calculated, for example, a series of s (t)1, s (t)2, s (t)3 … is obtained, and the cost value is selected to be the minimum, for example, s (t)₂The sampled value of the corresponding lane change time variable is t-4 s, and the sampled value of the longitudinal speed variable is v-10 m/s, so that the final sampling result of this embodiment is s-40 m, t-4 s, and v-10 m/s.

In this embodiment, l(s) ═ a described above₁s⁵+B₁s⁴+C₁s³+D₁s²+E₁s+F₁，s(t)＝A₂t⁵+B₂t⁴+C₂t³+D₂t²+E₂t+F₂And the coefficients a-F have been found by the above steps. The optimal values s, t, and v obtained from the above sampling results are 40m, 4s, and 10m/s, which means that the total lane change time is 4 seconds, in which 4 seconds the vehicle has traveled 40 meters forward, and at the 4 th second the target vehicle has changed lane to the target lane, and the longitudinal speed is 10 m/s. Therefore, for any time t of 0 to 4 seconds, the longitudinal distance s at that time can be obtained from s (t) corresponding to s-40 m, and the longitudinal distance s is substituted into t-4 s, v-4 sThe transverse distance l at this time can be obtained as l(s) corresponding to 10 m/s.

The embodiment can plan a safe and reasonable lane-changing path by the method, the time consumption is low, and the overall lane-changing performance is good, but the obtained first target value of the transverse travel track function and the second target value of the longitudinal travel track function may not be necessarily the minimum target value, and if the travel track is checked for obstacle passing, the planning result may not be solved, and another lane-changing track determination method of the embodiment is described below to avoid the situation.

As an optional implementation manner, the at least one target variable includes a longitudinal distance variable, a longitudinal speed variable, and a lane change time variable that the target vehicle travels to the target lane, where the lateral travel track function and the longitudinal travel track function are fused based on the first target value and the second target value to obtain a lane change track, including: acquiring a plurality of first sampling values of a longitudinal distance variable, a plurality of second sampling values of a longitudinal speed variable and a plurality of third sampling values of a corresponding lane change time variable; combining and arranging the plurality of first sampling values, the plurality of second sampling values and the plurality of third sampling values to obtain a plurality of combinations, wherein each combination comprises one first sampling value, one second sampling value and one third sampling value; and determining the lane change track based on the first target value of the transverse travel track function corresponding to the first sampling value in each combination, and the second target value of the longitudinal travel track function corresponding to the second sampling value and the third sampling value.

In this embodiment, a plurality of first sample values of the longitudinal distance variable, a plurality of second sample values of the longitudinal velocity variable and a plurality of third sample values of the corresponding lane change time variable are obtained, for example, the plurality of first sample values of the longitudinal distance variable s may be 20 meters, 40 meters, 60 meters, 80 meters, 100 meters, the plurality of second sample values of the longitudinal velocity variable v may be 10m/s, 20m/s, 30m/s, and the plurality of third sample values of the corresponding lane change time variable t may be 2s, 4s, 6s, 8 s. This embodiment combines the data in a permutation, that is, it calculates the longitudinal travel path function corresponding to each first sample value, and calculates, for each first sample value, the transverse travel path function corresponding to each second sample value and the corresponding third sample value, for example, s 40m, t 4s, v 10m/s may obtain a set of l(s) and s (t), s 60m, t 6s, v 20m/s may also obtain a set of l(s) and s (t). The embodiment may determine a first target value of the lateral travel track function corresponding to one first sample value in each combination, a second target value of the longitudinal travel track function corresponding to one second sample value and one third sample value in common, and determine the lane change track based on the first target value and the second target value.

As an alternative embodiment, the lane change trajectory is determined based on the first target value of the lateral travel trajectory function corresponding to one first sampled value in each combination, and the second target value of the longitudinal travel trajectory function corresponding to one second sampled value and one third sampled value in common, and the lane change trajectory includes: in each combination, acquiring the sum of a first target value of a transverse travel track function corresponding to a first sampling value and a second target value of a longitudinal travel track function corresponding to a second sampling value and a third sampling value to obtain a plurality of sums; and determining the lane change track based on the transverse running track function and the longitudinal running track function corresponding to the minimum sum of the plurality of sums.

In this embodiment, in each combination, a first target value of the transverse travel trajectory function corresponding to one first sample value, a second target value of the longitudinal travel trajectory function corresponding to one second sample value and one third sample value together, and a sum between the first target value and the second target value are obtained, so that a plurality of combinations correspond to a plurality of sums, a minimum sum is determined in the plurality of sums, and a lane change trajectory is determined based on a set of the transverse travel trajectory function and the longitudinal travel trajectory function corresponding to the minimum sum, for example, the minimum sum corresponds to a combination of s 60m, t 6s, and v 20m/s, and l(s) determined by s 60m and s (t) determined by t 6s, v 20m/s are final trajectories of the target vehicle.

For example, the data are arranged and combined when the sampling values of the longitudinal distance variable s are 20 meters, 40 meters, 60 meters, 80 meters and 100 meters, the sampling values of the longitudinal speed variable are 10m/s, 20m/s and 30m/s, and the sampling values of the lane change time variable are 2s, 4s, 6s and 8 s. That is, in this embodiment, the relational expression of s (t) is calculated not only when s is 40 meters, but also when s is 20 meters, 60 meters, 80 meters, or 100 meters. For example, a set of l(s) and s (t) can be obtained by s-40 m, t-4 s, v-10 m/s, and a set of l(s) and s (t) can also be obtained by s-60 m, t-6 s, v-20 m/s. And adding the two obtained cost values of each group, and selecting the group with the smallest sum of the cost values, which corresponds to l(s) and s (t), for example, determining the l(s) and s (t) corresponding to s 60m, t 6s and v 20m/s as the final lane change track.

For example, the above-mentioned l(s) ═ a₁s⁵+B₁s⁴+C₁s³+D₁s²+E₁s+F₁，s(t)＝A₂t⁵+B₂t⁴+C₂t³+D₂t²+E₂t+F₂And the coefficients a-F have been found by the above steps. The optimal values s, t, and v obtained from the above sampling results are 60m, 6s, and 20m/s, which means that the total lane change time is 6 seconds, in which 6 seconds the vehicle has traveled 60 meters forward, and at the 6 th second the target vehicle has changed lane to the target lane, and the longitudinal speed is 20 m/s. Therefore, for any time t of 0 to 6 seconds, the longitudinal distance s at that time can be obtained from s (t) corresponding to s 60m, and the transverse distance l at that time can be obtained by substituting the longitudinal distance s into l(s) corresponding to t 6s, v 20 m/s. For example, the lateral distance between the current lane and the target lane is 3.5 meters (about lane width, a known amount), when t is 3s, s is 35m calculated from s (t is 3), and l is 2m calculated from l (s is 35), which means that when the lane change time passes 3 seconds, the target vehicle travels 35 meters in the longitudinal direction and moves 2 meters in the lateral direction, and in order to complete the lane change, the target vehicle needs to continue moving to the target lane in the remaining 3 seconds until the target lane at 3.5 meters can be reached in the 6 th second.

In the lane changing process of the target vehicle, a safe and reasonable lane changing path can be planned through the method, the vehicle can be changed to the target lane, the stability and the safety of lane changing are guaranteed, the lane changing track calculation time is controllable, the algorithm consumes less time, and the overall lane changing performance is good.

The above-described method of this example is further illustrated below.

FIG. 2 is a schematic illustration of a target vehicle lane change, according to an embodiment of the present disclosure. As shown in fig. 2, the target vehicle is on the current lane a, and needs to change from the current lane a to the target lane b, and the end position of the target vehicle on the target lane may be x, y, z. Wherein the end position is a certain point on the target lane b, the end speed is a certain speed along the target lane b, and the end acceleration is set to 0. Therefore, the sampling variables are set to the end longitudinal distance s _ end, the end longitudinal velocity v _ end, and the total lane change time t _ total.

In this embodiment, the value range of the sampling variable is set, and a total lane change time range may be set according to an actual requirement, for example, the total lane change time requirement is t 1-t 2, the sampling range starts from t 1-t 2, and is reduced along with the lane change, for example, if the lane change has been performed for dt time, the total lane change time range is t 1-dt-t 2-dt.

The embodiment may determine the range of the sampling speed according to the lane change time range, the current speed, and the maximum acceleration and the maximum deceleration of the vehicle. The sampled minimum speed may be a speed to which the current speed can be reduced at the maximum deceleration of the target vehicle within a maximum sampling time, and the sampled maximum speed may be a speed to which the current speed can be increased at the maximum acceleration of the target vehicle within a maximum sampling time. And finally, calculating a longitudinal distance sampling range according to the sampling speed range and the total lane change time range.

In this embodiment, the trajectory parameterization is performed by using a fifth-order polynomial for both the lateral and longitudinal directions of the target vehicle. A fifth order polynomial may be expressed as f (x) Ax⁵+Bx⁴+Cx³+Dx²+ Ex + F, where A-F are the coefficients to be determined. Based on lane line coordinatesUnder the system, the abscissa (the direction vertical to the lane line) of the running track of the target vehicle is l, the ordinate (the direction of the lane line) is s, and for different sampled s _ ends, a track transverse expression l(s) can be obtained through calculation; and calculating a track longitudinal expression s (t) for different sampled s _ end, v _ end and t _ total.

In this embodiment, a series of weights l(s) and s (t) may be obtained by calculation, and during selection, l(s) with the smallest weight may be selected from the series of l(s) obtained by calculation, and then s _ end corresponding to l(s) obtained may be used as a fixed value for sampling s (t) (only v _ end and t _ total are sampled), and then s (t) with the smallest weight is selected.

Alternatively, this embodiment samples s, which results in a series of l(s)₁，l(s)₂，l(s)₃…, the one with the smallest cost can be selected from, for example, l(s)₂Then l(s)₂The relationship with s can be uniquely determined. According to l(s)₂Corresponding sample s (40), v _ end and t _ total may continue to be sampled, resulting in a series of s (t)₁，s(t)₂，s(t)₃…, and selecting the lowest cost from them, e.g., s (t)₂Then the horizontal and vertical trajectory of the target vehicle can be uniquely determined as l(s) above₂And s (t)₂。

For example, in the embodiment, s is sampled first, where s is 20 meters, 40 meters, 60 meters, 80 meters, and 100 meters, and the cost is calculated to be the minimum when s is 40 meters, and the corresponding l(s) can be uniquely determined. The fixed s is 40 meters, and then the longitudinal v and t are sampled, for example, at a speed of 10m/s, 20m/s, 30m/s, and at a time of 2s, 4s, 6s, 8 s. When s is 40 meters, the vertical sampling value with the lowest cost obtained by sampling calculation is t is 4s, and v is s (t) corresponding to 10 m/s. The final sampling result is therefore s-40 m, t-4 s, and v-10 m/s.

However, the cost of the trajectory function obtained by the above method is not necessarily the minimum cost, and if the trajectory is subjected to obstacle passing inspection, the planning result may not be solved, but the time consumption is low.

In this embodiment, it is also possible to combine the l(s) and s (t) obtained after sampling s _ end, v _ end, and t _ total, calculate the total weight, and select the l(s) and s (t) corresponding to the minimum total weight.

Alternatively, the embodiment samples s, wherein s is 20 meters, 40 meters, 60 meters, 80 meters and 100 meters, the speed samples are 10m/s, 20m/s and 30m/s, and the time samples are 2s, 4s, 6s and 8s, and then the data are arranged and combined. That is, in this embodiment, not only the relational expression of s (t) when s is 40 meters, but also the relational expressions of s (t) when s is 20 meters, 60 meters, 80 meters, and 100 meters are calculated. For example, a set of l(s) and s (t) can be obtained by s-40 m, t-4 s, v-10 m/s, and a set of l(s) and s (t) can also be obtained by s-60 m, t-6 s, v-20 m/s. And adding the two obtained costs corresponding to each group, and selecting the group with the minimum cost, wherein s is 60m, t is 6s, v is 20m/s and l(s) and s (t) are corresponding to the group, so as to obtain the final track.

In this embodiment, the obtained l(s) and s (t) may be fused, and the trajectory in the world coordinate system may be calculated through coordinate transformation.

For example, the above-mentioned l(s) ═ a₁s⁵+B₁s⁴+C₁s³+D₁s²+E₁s+F₁，s(t)＝A₂t⁵+B₂t⁴+C₂t³+D₂t²+E₂t+F₂And the coefficients a-F have been found by the above steps. The optimal values s, t, and v obtained from the above sampling results are 60m, 6s, and 20m/s, which means that the total lane change time is 6 seconds, in which 6 seconds the target vehicle travels 60 meters ahead, and at the 6 th second the target vehicle changes lane to reach the target lane, and the longitudinal speed is 20 m/s. Therefore, for any time t within 0-6 seconds, the longitudinal displacement s can be obtained according to s (t), and then s is substituted into l(s), so that the transverse displacement l can be obtained. For example, the lateral distance between the current lane and the target lane is 3.5 meters (about lane width, known quantity), when t is 3s, s may be calculated from s (t) to 35m, and l may be calculated from l(s) to 2m, which means that after 3 seconds of lane change time, the vehicle is moved in the longitudinal directionTravel 35 meters and move 2 meters laterally. In order to make the target vehicle complete lane change, the target vehicle needs to continue moving to the target lane in the remaining 3 seconds until the distance of 3.5 meters can be reached in 6 seconds, namely the target lane.

The method of the embodiment is a method for changing the lane of the target vehicle to the target lane, is a core lane changing algorithm, can plan a safe and reasonable lane changing path when the vehicle needs to change the lane, and has the advantages of less time consumption and good overall lane changing performance.

It should be noted that the above method of this embodiment may be applied to stick lane changing and autonomous lane changing in automatic driving and assisted driving.

The embodiment of the disclosure provides a device for determining a running track of a vehicle. It should be noted that the determination device of the travel track of the vehicle of this embodiment may be used to execute the determination method of the travel track of the vehicle of the embodiment of the present disclosure.

Fig. 3 is a schematic diagram of a device for determining a travel track of a vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the device 30 for determining the travel track of the vehicle may include: a first determining unit 31, an acquiring unit 32, a second determining unit 33, a first acquiring unit 34 and a second acquiring unit 35.

A first determining unit 31 for determining at least one target variable to which the target vehicle is travelling in a target lane, wherein the target lane is a lane to which the target vehicle is expected to change lanes from the current lane.

The acquisition unit 32 is configured to acquire a sampling value of at least one target variable.

A second determination unit 33 is provided for determining at least one travel path function of the target vehicle on the basis of the at least one sampled value.

A first obtaining unit 34, configured to obtain a target value of at least one driving trajectory function, where the target value is used to represent a smoothness of the driving of the target vehicle under the control of the driving trajectory function.

A second obtaining unit 35, configured to obtain a lane change trajectory based on the obtained target value of the at least one travel trajectory function, where the lane change trajectory is used to change the target vehicle from the current lane to the target lane.

Optionally, the travel track functions comprise at least a lateral travel track function and a longitudinal travel track function.

Optionally, the first obtaining unit 34 includes: the acquiring module is used for acquiring a first target value of the transverse running track function and a second target value of the longitudinal running track function, wherein the first target value is used for representing the smoothness degree of the target vehicle running under the control of the transverse running track function, and the second target value is used for representing the smoothness degree of the target vehicle running under the control of the longitudinal running track function; the second acquisition unit 35 includes: and the fusion module is used for carrying out fusion processing on the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain the lane change track.

Optionally, the fusion module comprises: a generation submodule for generating a lane change trajectory based on a lateral travel trajectory function associated with the sample values corresponding to the first target value and a longitudinal travel trajectory function associated with the sample values corresponding to the second target value.

Optionally, the at least one target variable comprises a longitudinal distance variable traveled by the target vehicle onto the target lane, wherein the obtaining module comprises: the first acquisition submodule is used for acquiring a plurality of first sampling values of the longitudinal distance variable; a first determination submodule for determining a plurality of lateral travel trajectory functions on the basis of the plurality of first sample values; and the second determining submodule is used for determining a plurality of first target values corresponding to the plurality of transverse traveling track functions.

Optionally, the at least one target variable includes a longitudinal speed variable and a lane change time variable at which the target vehicle travels to the target lane, wherein the obtaining module includes: the second obtaining submodule is used for obtaining a plurality of second sampling values of the longitudinal speed variable and a plurality of third sampling values of the corresponding lane change time variable under the first target sampling value, wherein the first target sampling value is the first sampling value corresponding to the minimum first target value in the first target values; a third determination submodule for determining a plurality of longitudinal travel trajectory functions on the basis of the plurality of second sample values and a corresponding plurality of third sample values; and the fourth determining submodule is used for determining a plurality of second target values corresponding to the plurality of longitudinal running track functions.

Optionally, the apparatus comprises: a third determining unit, configured to determine a second target sample value and a third target sample value, where the second target sample value is a second sample value corresponding to a smallest second target value among the plurality of second target values, and the third target sample value is a third sample value corresponding to the smallest second target value; the fusion module includes: and the fifth determining submodule is used for determining the lane change track based on the longitudinal running track function corresponding to the second target sampling value and the third target sampling value and the transverse running track function corresponding to the first target sampling value.

Optionally, the at least one target variable includes a longitudinal distance variable, a longitudinal speed variable and a lane change time variable that the target vehicle travels to the target lane, wherein the fusion module includes: the third acquisition submodule is used for acquiring a plurality of first sampling values of the longitudinal distance variable, a plurality of second sampling values of the longitudinal speed variable and a plurality of third sampling values of the corresponding lane change time variable; the combination submodule is used for carrying out combination arrangement on the plurality of first sampling values, the plurality of second sampling values and the plurality of third sampling values to obtain a plurality of combinations, wherein each combination comprises one first sampling value, one second sampling value and one third sampling value; and the sixth determining submodule is used for determining the lane change track based on the first target value of the transverse travel track function corresponding to one first sampling value in each combination, and the second target value of the longitudinal travel track function corresponding to one second sampling value and one third sampling value in combination.

Optionally, the sixth determination submodule is configured to determine the lane change trajectory on the basis of the first target value of the transverse travel trajectory function corresponding to one first sampled value, and the second target value of the longitudinal travel trajectory function corresponding to one second sampled value and one third sampled value in each combination, by: in each combination, acquiring the sum of a first target value of a transverse travel track function corresponding to a first sampling value and a second target value of a longitudinal travel track function corresponding to a second sampling value and a third sampling value to obtain a plurality of sums; and determining the lane change track based on the transverse running track function and the longitudinal running track function corresponding to the minimum sum of the plurality of sums.

In the apparatus for determining a driving track of a vehicle according to this embodiment, the present disclosure obtains at least one track driving track function by determining at least one target variable of a target vehicle on a target lane, and performs fusion processing on the track driving track function through the target value of the at least one track driving track function, thereby achieving a purpose of determining a lane change track of the target vehicle, solving a technical problem that a reasonable lane change track cannot be planned in a lane change process of an automatically driven vehicle, and achieving a technical effect of planning a reasonable lane change track in a lane change process of the automatically driven vehicle.

It should be noted that the above units and modules can be implemented by software or hardware, and for the latter, the following manners can be implemented, but are not limited to the following manners: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.

According to an embodiment of the present disclosure, the present disclosure also provides an electronic device. The electronic device may include: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of determining a driving trajectory of a vehicle of the embodiments of the present disclosure.

Optionally, the electronic device may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Alternatively, in the present disclosure, the processor may be configured to execute the following steps by a computer program:

s1, determining at least one target variable of the target vehicle driving to a target lane, wherein the target lane is a lane to which the target vehicle is predicted to change from the current lane;

s2, collecting sampling values of at least one target variable;

s3, determining at least one running track function of the target vehicle based on the at least one sampling value; acquiring a target value of at least one running track function, wherein the target value is used for representing the smoothness of running of the target vehicle under the control of the running track function;

and S4, obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

According to an embodiment of the present disclosure, there is also provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of determination of a travel trajectory of a vehicle of an embodiment of the present disclosure.

Alternatively, in the present embodiment, the above-mentioned nonvolatile storage medium may be configured to store a computer program for executing the steps of:

s2, collecting sampling values of at least one target variable;

Alternatively, in the present embodiment, the non-transitory computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The present disclosure also provides a computer program product according to an embodiment of the present disclosure. The computer program product comprises a computer program which, when executed by a processor, implements a method of determination of a driving trajectory of a vehicle of an embodiment of the present disclosure.

The program code of this embodiment for implementing the method of determining a travel trajectory of a vehicle of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

According to an embodiment of the present disclosure, the present disclosure also provides an autonomous vehicle. The autonomous vehicle may include the determination device of the travel track of the vehicle of the embodiment of the present disclosure or the electronic device of the embodiment of the present disclosure.

Fig. 4 is a schematic block diagram of an electronic device 400 in accordance with an embodiment of the disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 4, the apparatus 400 includes a computing unit 401 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

A number of components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, or the like; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408 such as a magnetic disk, optical disk, or the like; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

Computing unit 401 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 401 executes the respective methods and processes described above, such as the determination method of the travel locus of the vehicle. For example, in some embodiments, the method of determining a travel trajectory of a vehicle may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into RAM 403 and executed by computing unit 401, one or more steps of the method for determining a travel trajectory of a vehicle described above may be performed. Alternatively, in other embodiments, the calculation unit 401 may be configured by any other suitable means (e.g. by means of firmware) to perform the determination method of the travel trajectory of the vehicle.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method of determining a travel trajectory of a vehicle, comprising:

determining at least one target variable of a target vehicle driving to a target lane, wherein the target lane is a lane to which the target vehicle is expected to change from a current lane;

collecting sampling values of at least one target variable;

determining at least one travel trajectory function of the target vehicle based on at least one of the sampled values;

obtaining a target value of at least one travel track function, wherein the target value is used for representing the smoothness degree of the target vehicle traveling under the control of the travel track function;

and obtaining a lane change track based on the obtained target value of at least one travel track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.

2. The method of claim 1, the travel track functions comprising at least a lateral travel track function and a longitudinal travel track function.

3. The method of claim 2, wherein,

obtaining a target value of at least one of the travel trajectory functions, comprising: acquiring a first target value of the transverse travel track function and a second target value of the longitudinal travel track function, wherein the first target value is used for representing the smoothness degree of the target vehicle under the control of the transverse travel track function, and the second target value is used for representing the smoothness degree of the target vehicle under the control of the longitudinal travel track function;

obtaining a lane change trajectory based on the obtained target value of at least one travel trajectory function, including: and fusing the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain the lane change track.

4. The method according to claim 3, wherein the fusion processing of the transverse travel track function and the longitudinal travel track function based on the first target value and the second target value to obtain a lane change track comprises:

generating the lane change trajectory based on the lateral travel trajectory function associated with the sample value corresponding to the first target value and the longitudinal travel trajectory function associated with the sample value corresponding to the second target value.

5. The method of claim 4, the at least one target variable comprising a longitudinal distance variable traveled by the target vehicle onto the target lane, wherein obtaining a first target value of the lateral travel trajectory function comprises:

acquiring a plurality of first sampling values of the longitudinal distance variable;

determining a plurality of the lateral travel trajectory functions based on the plurality of first sample values;

determining a plurality of first target values corresponding to a plurality of the lateral travel trajectory functions.

6. The method of claim 5, the at least one target variable comprising a longitudinal speed variable and a lane change time variable at which the target vehicle travels onto the target lane, wherein obtaining a second target value for the longitudinal travel trajectory function comprises:

under a first target sampling value, acquiring a plurality of second sampling values of the longitudinal speed variable and a plurality of corresponding third sampling values of the lane change time variable, wherein the first target sampling value is the first sampling value corresponding to the minimum first target value in a plurality of first target values;

determining a plurality of the longitudinal travel trajectory functions based on the plurality of second sample values and the corresponding plurality of third sample values;

and determining a plurality of second target values corresponding to the plurality of longitudinal running track functions.

7. The method of claim 6, further comprising:

determining a second target sampling value and a third target sampling value, wherein the second target sampling value is the second sampling value corresponding to the smallest second target value in the plurality of second target values, and the third target sampling value is the third sampling value corresponding to the smallest second target value;

based on the first target value and the second target value, the transverse travel track function and the longitudinal travel track function are subjected to fusion processing to obtain a lane change track, and the method comprises the following steps: and determining the lane change track based on the longitudinal running track function corresponding to the second target sampling value and the third target sampling value and the transverse running track function corresponding to the first target sampling value.

8. The method according to claim 3, wherein the at least one target variable comprises a longitudinal distance variable, a longitudinal speed variable and a lane change time variable, wherein the target vehicle drives to the target lane, and wherein the transverse driving track function and the longitudinal driving track function are subjected to fusion processing based on the first target value and the second target value to obtain a lane change track, and the method comprises the following steps:

acquiring a plurality of first sampling values of the longitudinal distance variable, a plurality of second sampling values of the longitudinal speed variable and a plurality of corresponding third sampling values of the lane change time variable;

combining and arranging the plurality of first sample values, the plurality of second sample values and the plurality of third sample values to obtain a plurality of combinations, wherein each combination comprises one first sample value, one second sample value and one third sample value;

and determining the lane change trajectory based on the first target value of the transverse travel trajectory function corresponding to one first sampling value in each combination, and the second target value of the longitudinal travel trajectory function corresponding to one second sampling value and one third sampling value in common.

9. The method of claim 8, wherein determining the lane change trajectory based on the first target value of the lateral travel trajectory function for one of the first sample values, the second target value of the longitudinal travel trajectory function for one of the second sample values and one of the third sample values in each of the combinations comprises:

in each combination, obtaining the sum of the first target value of the transverse travel track function corresponding to one first sampling value and the second target value of the longitudinal travel track function corresponding to one second sampling value and one third sampling value, and obtaining a plurality of sums;

and determining the lane change track based on the transverse driving track function and the longitudinal driving track function corresponding to the minimum sum of the plurality of sums.

10. A travel track determination apparatus for a vehicle, comprising:

a first determination unit, configured to determine at least one target variable of a target vehicle traveling to a target lane, where the target lane is a lane to which the target vehicle is expected to change from a current lane;

the acquisition unit is used for acquiring the sampling value of at least one target variable;

a second determination unit for determining at least one travel path function of the target vehicle on the basis of at least one of the sampled values;

a first obtaining unit, configured to obtain a target value of at least one of the travel track functions, where the target value is used to represent a smoothness of travel of the target vehicle under control of the travel track function;

and a second obtaining unit, configured to obtain a lane change trajectory based on the obtained target value of the at least one travel trajectory function, where the lane change trajectory is used to change the target vehicle from the current lane to the target lane.

11. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

13. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.

14. An autonomous vehicle comprising the apparatus for determining a travel trajectory of a vehicle of claim 10 or the electronic device of claim 11.