Granted Patent B2

US 12,358,508 · App. 18/175,106 · Granted Jul 15, 2025

Inventor: Xiaobin Gao (Shenzhen, CN)

Assignee: SHENZHEN YINWANG INTELLIGENT TECHNOLOGIES CO., LTD.

B60W30/18163B60W60/001B60W2520/10B60W2710/20

Abstract

Claims (71)

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.

2. The lane change track planning method of claim 1 , wherein the preset correspondence is represented by a first correspondence between a vehicle speed and a maximum steering wheel rotation angle when the first lane change control parameter comprises the steering wheel rotation angle, wherein the first correspondence indicates a second maximum steering wheel rotation angle allowed by the vehicle at different vehicle speeds, and wherein determining the first sampling interval comprises:

determining, based on the first correspondence, a third maximum steering wheel rotation angle corresponding to the current vehicle speed; and

determining a second sampling interval of a second steering wheel rotation angle corresponding to the current vehicle speed, wherein the second steering wheel rotation angle is less than the third maximum steering wheel rotation angle corresponding to the current vehicle speed.

3. The lane change track planning method of claim 1 , wherein the preset correspondence is represented using a first correspondence between a vehicle speed and a maximum steering wheel rotation speed when the lane change control parameter comprises the steering wheel rotation speed, wherein the first correspondence indicates a second maximum steering rotation speed allowed by the vehicle at different vehicle speeds, and wherein determining the first sampling interval comprises:

determining, based on the first correspondence, a second maximum steering wheel rotation speed corresponding to the current vehicle speed; and

determining a second sampling interval of a second steering wheel rotation speed corresponding to the current vehicle speed, wherein the second steering wheel rotation speed is less than the maximum steering wheel rotation speed corresponding to the current vehicle speed.

4. The lane change track planning method of claim 1 , wherein the preset correspondence is represented by a first correspondence between a vehicle speed and a maximum course angle deviation when the first lane change control parameter comprises the course angle deviation, wherein the first correspondence indicates a second maximum course angle deviation allowed by the vehicle at different vehicle speeds, and wherein determining, the first sampling interval further comprises:

determining, based on the first correspondence, a second maximum course angle deviation corresponding to the current vehicle speed; and

determining a second sampling interval of a second course angle deviation corresponding to the current vehicle speed, wherein the second course angle deviation is less than the second maximum course angle deviation.

5. The lane change track planning method of claim 1 , wherein when the lane change track is a plurality of lane change tracks, the lane change track planning method further comprises:

calculating a change of a required steering wheel rotation angle when the vehicle changes a lane based on each of the lane change tracks; or calculating a required lane change time when the vehicle changes the lane based on each of the lane change tracks; and

selecting a first lane change track from the lane change tracks.

6. The lane change track planning method of claim 1 , wherein determining the change with time of each of the at least one lane change control parameter set in the lane change process comprises:

determining, based on a second steering wheel rotation angle in each of the at least one lane change control parameter set and a preset change trend of the steering wheel rotation angle with time, a change amount of the steering wheel rotation angle that is to be executed by the vehicle in each segment of the preset change trend; and

calculating, based on the change amount of the steering wheel rotation angle and that corresponds to the each segment of the preset change trend and a third lane change control parameter other than the second steering wheel rotation angle, time required by the vehicle to complete the each segment to obtain the change with time of each of the at least one lane change control parameter set.

7. A lane change track planning apparatus, comprising:

a memory configured to store programming instructions; and

a processor coupled to the memory and configured to execute the programming instructions to cause the lane change track planning apparatus to:

obtain a current vehicle speed of a vehicle;

determine, based on the current vehicle speed and a preset correspondence between a vehicle speed and a first sampling interval of a first lane change control parameter, 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 of the vehicle 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;

perform sampling in the first sampling interval to obtain at least one lane change control parameter set;

determine, 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

plan, 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.

8. The lane change track planning apparatus of claim 7 , wherein the preset correspondence is represented by a first correspondence between a vehicle speed and a maximum steering wheel rotation angle when the first lane change control parameter comprises the steering wheel rotation angle, wherein the first correspondence indicates a second maximum steering wheel rotation angle allowed by the vehicle at different vehicle speeds, and wherein the processor is configured to cause the lane change track planning apparatus to:

determine, based on the first correspondence between the vehicle speed and the maximum steering wheel rotation angle, a third maximum steering wheel rotation angle corresponding to the current vehicle speed; and

determine a second sampling interval of a second steering wheel rotation angle corresponding to the current vehicle speed, wherein the steering wheel rotation angle is less than the third maximum steering wheel rotation angle corresponding to the current vehicle speed.

9. The lane change track planning apparatus of claim 7 , wherein the preset correspondence is represented by a first correspondence between a vehicle speed and a maximum steering wheel rotation speed when the lane change control parameter comprises the steering wheel rotation speed, wherein the first correspondence indicates a second maximum steering rotation speed allowed by the vehicle at different vehicle speeds, and wherein the processor is configured to cause the lane change track planning apparatus to:

determine, based on the first correspondence, a second maximum steering wheel rotation speed corresponding to the current vehicle speed; and

determine a second sampling interval of a second steering wheel rotation speed corresponding to the current vehicle speed, wherein the second steering wheel rotation speed is less than the maximum steering wheel rotation speed corresponding to the current vehicle speed.

10. The lane change track planning apparatus of claim 7 , wherein the preset correspondence is represented by a first correspondence between a vehicle speed and a maximum course angle deviation when the first lane change control parameter comprises the course angle deviation, wherein the first correspondence indicates a second maximum course angle deviation allowed by the vehicle at different vehicle speeds, wherein the processor is configured to cause the lane change track planning apparatus to:

determine, based on the first correspondence, a second maximum course angle deviation corresponding to the current vehicle speed; and

determine a second sampling interval of a second course angle deviation corresponding to the current vehicle speed, wherein the second course angle deviation is less than the second maximum course angle deviation.

11. The lane change track planning apparatus of claim 7 , wherein when the lane change track is a plurality of lane change tracks, the processor is configured to cause the lane change track planning apparatus to:

calculate a change of a required steering wheel rotation angle when the vehicle changes a lane based on the plurality of lane change tracks; and

selecting a first lane change track from the lane change tracks based on the change of the required steering wheel rotation angle.

12. The lane change track planning apparatus of claim 7 , wherein the processor is configured to cause the lane change track planning apparatus to:

determine, based on a second steering wheel rotation angle in each of the at least one lane change control parameter set and a preset change trend of the steering wheel rotation angle with time, a change amount of the steering wheel rotation angle that is to be executed by the vehicle in each segment of the preset change trend; and

calculate, based on the change amount of the steering wheel rotation angle and that corresponds to the each segment of the preset change trend and a third lane change control parameter other than the second steering wheel rotation angle, time required by the vehicle to complete the each segment to obtain the change with time of each of the at least one lane change control parameter set.

13. The lane change track planning apparatus of claim 7 , wherein when the lane change track is a plurality of lane change tracks, the processor is further configured to cause the lane change track planning apparatus to:

calculate a required lane change time when the vehicle changes the lane based on each of the lane change tracks; and

select a first lane change track from the lane change tracks based on the required lane change time.

14. A computer program product comprising computer-executable instructions that are stored on a non-transitory computer-readable storage medium and that, when executed by a processor, cause a lane change track planning apparatus to:

obtain a current vehicle speed of a vehicle;

determine, based on the current vehicle speed and a preset correspondence between vehicle speeds 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 of the vehicle 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;

perform sampling in the first sampling interval to obtain at least one lane change control parameter set;

determine, 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

plan, 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.

15. The computer program product of claim 14 , wherein the preset correspondence is represented by a first correspondence between a vehicle speed and a maximum steering wheel rotation angle when the first lane change control parameter comprises the steering wheel rotation angle, wherein the first correspondence indicates a second maximum steering wheel rotation angle allowed by the vehicle at different vehicle speeds, and wherein the computer-executable instructions cause the lane change track planning apparatus to:

determine, based on the first correspondence, a third maximum steering wheel rotation angle corresponding to the current vehicle speed; and

determine a second sampling interval of a second steering wheel rotation angle corresponding to the current vehicle speed, wherein the steering wheel rotation angle is less than the third maximum steering wheel rotation angle corresponding to the current vehicle speed.

16. The computer program product of claim 14 , wherein the preset correspondence between the vehicle speed and the first sampling interval is represented by a first correspondence between a vehicle speed and a maximum steering wheel rotation speed when the lane change control parameter comprises the steering wheel rotation speed, wherein the first correspondence indicates a second maximum steering rotation speed allowed by the vehicle at different vehicle speeds, and wherein the computer-executable instructions cause the lane change track planning apparatus to:

determine, based on the first correspondence, a second maximum steering wheel rotation speed corresponding to the current vehicle speed; and

determine a second sampling interval of a second steering wheel rotation speed corresponding to the current vehicle speed, wherein the second steering wheel rotation speed is less than the maximum steering wheel rotation speed corresponding to the current vehicle speed.

17. The computer program product of claim 14 , wherein the preset correspondence is represented by a first correspondence between a vehicle speed and a maximum course angle deviation when the first lane change control parameter comprises the course angle deviation, wherein the first correspondence indicates a second maximum course angle deviation allowed by the vehicle at different vehicle speeds, and wherein the computer-executable instructions cause the lane change track planning apparatus to:

determine, based on the first correspondence, a second maximum course angle deviation corresponding to the current vehicle speed; and

determine a second sampling interval of a second course angle deviation corresponding to the current vehicle speed, wherein the second course angle deviation is less than the second maximum course angle deviation.

18. The computer program product of claim 14 , wherein when the lane change track is a plurality of lane change tracks, the computer-executable instructions cause the lane change track planning apparatus to:

calculate a change of a required steering wheel rotation angle when the vehicle changes a lane based on the plurality of lane change tracks; and

select a first lane change track from the lane change tracks based on the change of the required steering wheel rotation angle.

19. The computer program product of claim 14 , wherein when the lane change track is a plurality of lane change tracks, the computer-executable instructions cause the lane change track planning apparatus to:

calculate a required lane change time when the vehicle changes the lane based on each of the lane change tracks; and

select a first lane change track from the lane change tracks based on the required lane change.

20. The computer program product of claim 14 , wherein the computer-executable instructions cause the lane change track planning apparatus to:

determine, based on a second steering wheel rotation angle in each of the at least one lane change control parameter set and a preset change trend of the steering wheel rotation angle with time, a change amount of the steering wheel rotation angle that is to be executed by the vehicle in each segment of the preset change trend; and

calculate, based on the change amount of the steering wheel rotation angle and that corresponds to the each segment of the preset change trend and a third lane change control parameter other than the second steering wheel rotation angle, time required by the vehicle to complete the each segment to obtain the change with time of each of the at least one lane change control parameter set.

Assignments (2)

Priority Claims (1)

Continuity (2)

References Cited (26)