US 12,146,751 B2
Vehicle lane changing trajectory planning method, apparatus and device, storage medium and vehicle
Jin Han, Hanzhong (CN); Yangfan Chen, Hanzhong (CN); Likun Cui, Hanzhong (CN); and Renhe Zhai, Hanzhong (CN)
Assigned to SHAANXI UNIVERSITY OF TECHNOLOGY, Shaanxi (CN)
Filed by Shaanxi University of Technology, Hanzhong (CN)
Filed on May 6, 2022, as Appl. No. 17/739,068.
Application 17/739,068 is a continuation of application No. PCT/CN2021/122804, filed on Oct. 9, 2021.
Claims priority of application No. 202110416172.7 (CN), filed on Apr. 19, 2021.
Prior Publication US 2022/0333938 A1, Oct. 20, 2022
Int. Cl. G06F 17/00 (2019.01); B60W 40/105 (2012.01); B60W 50/08 (2020.01); G01C 21/34 (2006.01)
CPC G01C 21/3446 (2013.01) [B60W 40/105 (2013.01); B60W 50/085 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4045 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A vehicle lane changing trajectory planning method, comprising:
performing operations, by a computer device, comprising:
1) Determining a starting point and an end point of a to-be-planned path on a grid lane changing map, wherein the grid lane changing map is a gridded local map reflecting a lane changing condition and wherein the gridded local map uses a road boundary as a map boundary, wherein step 1 comprises:
randomly spreading a plurality of points on a center line of a target lane as end point coordinates,

OG Complex Work Unit Math
wherein Range is a spread point range, y is a road direction coordinate of a vehicle to be subjected to lane changing, rmin is a minimum turning radius of the vehicle, P(i) is a position of a spread point, a is an accelerated speed of the vehicle to be subjected to lane changing, and i is a serial number of the spread point;
2) performing weight allocation on all grids in the grid lane changing map by using a potential function;
3) searching for optimal solutions corresponding to different weight requirements between the starting point and the end point by using an A* algorithm;
4) smoothing the optimal solutions corresponding to the different weight requirements to obtain lane changing trajectories corresponding to the different weight requirements; and
5) selecting an optimal lane changing trajectory from the lane changing trajectories corresponding to the different weight requirements; and
controlling the vehicle to movement in response to the selected optimal lane changing trajectory.