Title:
METHOD AND APPARATUS FOR PLANNING VEHICLE LANE-CHANGING TRAJECTORY, DEVICE, STORAGE MEDIUM, AND VEHICLE
Document Type and Number:
WIPO Patent Application WO/2022/222386
Kind Code:
A1
Abstract:
A method and an apparatus for planning a vehicle lane-changing trajectory, a device, a storage medium, and a vehicle. The method for planning a vehicle lane-changing trajectory comprises: determining a start point and an end point of a path to be planned on a grid lane-changing map, the grid lane-changing map being a gridded local map that embodies lane-changing operating conditions, and the grid lane-changing map using road boundaries as map boundaries; using a potential function to assign weightings to all of the grids in the grid lane-changing map; searching for optimal solutions corresponding to different weighting requirements between the start point and the end point; performing smoothing processing on the optimal solutions corresponding to different weighting requirements to acquire lane-changing trajectories corresponding to different weighting requirements; and selecting an optimal lane-changing trajectory from the lane-changing trajectories corresponding to different weighting requirements.
Inventors:
HAN JIN (CN)
CHEN YANGFAN (CN)
CUI LIKUN (CN)
ZHAI RENHE (CN)
CHEN YANGFAN (CN)
CUI LIKUN (CN)
ZHAI RENHE (CN)
Application Number:
PCT/CN2021/122804
Publication Date:
October 27, 2022
Filing Date:
October 09, 2021
Export Citation:
Assignee:
UNIV SHAANXI TECHNOLOGY (CN)
International Classes:
B60W60/00; B60W30/18; G01C21/34; G05D1/02; G06F17/11
Foreign References:
| CN113085895A | 2021-07-09 | |||
| CN111857160A | 2020-10-30 | |||
| CN110044359A | 2019-07-23 | |||
| CN111750887A | 2020-10-09 | |||
| KR20210018678A | 2021-02-18 |
Attorney, Agent or Firm:
BEIJING SHENGZHOU PATENT AGENCY (GENERAL PARTNERSHIP) (CN)
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