US 12,358,508 B2
Lane change track planning method and apparatus
Xiaobin Gao, Shenzhen (CN)
Assigned to SHENZHEN YINWANG INTELLIGENT TECHNOLOGIES CO., LTD., Shenzhen (CN)
Filed by Shenzhen Yinwang Intelligent Technologies Co., Ltd., Shenzhen (CN)
Filed on Feb. 27, 2023, as Appl. No. 18/175,106.
Application 18/175,106 is a continuation of application No. PCT/CN2021/091075, filed on Apr. 29, 2021.
Claims priority of application No. 202010882785.5 (CN), filed on Aug. 28, 2020.
Prior Publication US 2023/0256970 A1, Aug. 17, 2023
Int. Cl. B60W 30/18 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/18163 (2013.01) [B60W 60/001 (2020.02); B60W 2520/10 (2013.01); B60W 2710/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A lane change track planning method, comprising:
obtaining a current vehicle speed of a vehicle;
determining, based on the current vehicle speed and a preset correspondence between vehicle speed and sampling intervals of lane change control parameters, a first sampling interval that is of a first lane change control parameter and that corresponds to the current vehicle speed, wherein the first lane change control parameter comprises at least two of a steering wheel rotation angle of the vehicle, a steering wheel rotation speed of the vehicle, or a course angle deviation of the vehicle, and wherein the course angle deviation indicates a degree of change between a first current course angle of the vehicle and a second course angle of the vehicle in a lane change process;
performing sampling in the first sampling interval of the first lane change control parameter to obtain at least one lane change control parameter set;
determining, based on the at least one lane change control parameter set, a change with time of each of the at least one lane change control parameter set in the lane change process; and
planning, based on the change with time of each of the at least one lane change control parameter set, a lane change track that is of the vehicle and that corresponds to each of the at least one lane change control parameter set.