Vehicle lane changing trajectory planning method, apparatus and device, storage medium and vehicle
US12146751B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 6, 2022 |
| Grant date | Nov 19, 2024 |
| Priority date | — |
| Expiry date | Nov 19, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2554/4045
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
The vehicle lane changing trajectory planning method includes: determining a starting point and an end point of a to-be-planned path on a grid lane changing map, which is a gridded local map reflecting a lane changing condition and takes a road boundary as a map boundary; performing weight allocation on all grids in the grid lane changing map by using a potential function; searching for optimal solutions corresponding to different weight requirements between the starting point and the end point; smoothing the optimal solutions corresponding to the different weight requirements to obtain lane changing trajectories corresponding to the different weight requirements; and selecting an optimal lane changing trajectory from the lane changing trajectories corresponding to the different weight requirements.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.