Vehicle transition track generation method and device

Abstract

The embodiment of the invention provides a vehicle transition track generation method and device. The method comprises the steps that the position information of a vehicle is obtained, and a startingreference line and an ending reference line aiming at the vehicle are obtained; a starting point matched with the position information is determined from the starting reference line; the starting information aiming at the starting point and the ending information aiming at the ending reference line are obtained; and then according to the starting information and the ending information, a transition track from the starting point to the ending reference line is generated, and the vehicle automatically travels along transition track. By presetting the starting information aiming at the starting point and the ending information aiming at the ending point reference line, the vehicle can obtain the transition track according to the starting information and the ending information after obtainingthe current position and the ending point reference line, and the vehicle can travel along the transition track; and automatic driving modes such as lane changing, lane changing car following and lanekeeping can be achieved, the calculation efficiency is improved, the reasonability of a vehicle driving path can be guaranteed, and lateral movement of the vehicle is avoided.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a method for generating a vehicle transition trajectory and a device for generating a vehicle transition trajectory. Background technique [0002] With the development of autonomous driving technology, the automatic driving functions of vehicles are becoming more and more mature. Vehicles operating in autonomous driving mode (eg, driverless) can free occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. Among them, the path transition planning of automatic driving mainly calculates the transition trajectory of the vehicle through algorithm calculation. However, the transition trajectory obtained by the current algorithm, on the one hand, cannot guarantee that t...

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Problems solved by technology

[0003] An embodiment of the present invention provides a method for generating a vehicle transition trajectory, so as to solve the problem in the prior art that the calculation efficiency of the transition trajectory in the automatic driving of the vehicle is low, and it is easy to cause the vehicle to move sideways

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