CN117622147A - Intelligent driving lane change track generation method, system, electronic equipment and medium - Google Patents
Intelligent driving lane change track generation method, system, electronic equipment and medium Download PDFInfo
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Abstract
The application provides a method, a system, electronic equipment and a medium for generating an intelligent driving lane change track, wherein the method comprises the following steps: acquiring lane center line information; the lane center line information comprises coordinate information of each acquisition point of the lane center line and a lane line function expression correlation coefficient; determining a fitting coefficient of the lane center line according to the lane center line information; track compensation processing is carried out on the fitting coefficient by combining the lane changing time, the road width and the current speed of the vehicle, and a compensation fitting coefficient is determined; and determining the lane change track based on the compensation fitting coefficient. The lane change track generation method with low calculation force is stable, smooth and free of large noise, and can meet intelligent driving requirements.
Description
Technical Field
The application belongs to the technical field of intelligent driving, relates to a track generation method, and in particular relates to a track generation method, a track generation system, electronic equipment and a medium for intelligent driving lane change.
Background
At present, in the automatic driving industry, the lane change track generation method has various schemes such as a scattering point construction curve fitting five-degree polynomial, a Lattice and a Bezier curve fitting method after widely scattering points. Furthermore, the method also comprises the idea of upstream decisions; the fitted track-changing curve has the characteristics of continuity, stability and the like, and is convenient for stable output of the back-end control.
However, the trajectories calculated by the algorithm have high demands on the computational power of the chip, so that resource allocation in an integrated automatic driving architecture has a certain challenge, because the perception module and the control module both require high computational power to maintain the real-time performance and continuity of the system operation except for the trajectory planning module.
Disclosure of Invention
The application provides a method, a system, electronic equipment and a medium for generating an intelligent driving lane change track, which are used for solving the problem of how to generate a lane change track available for automatic driving in a low-calculation-force mode.
In a first aspect, the present application provides a method for generating an intelligent driving lane-change track, where the method includes: acquiring lane center line information; the lane center line information comprises coordinate information of each acquisition point of the lane center line and a lane line function expression correlation coefficient; determining a fitting coefficient of the lane center line according to the lane center line information; track compensation processing is carried out on the fitting coefficient by combining the lane changing time, the road width and the current speed of the vehicle, and a compensation fitting coefficient is determined; and determining the lane change track based on the compensation fitting coefficient.
In an implementation manner of the first aspect, the step of acquiring lane centerline information includes at least one of the following steps: acquiring a cubic polynomial of a lane center line fitted in advance based on coordinate information; coordinate information of scattered acquisition points on a lane central line is acquired, and a cubic polynomial is fitted based on the coordinate information of the scattered acquisition points.
In an implementation manner of the first aspect, the step of determining a fitting coefficient of a lane center line according to the lane center line information includes: and determining a fitting coefficient of the lane center line according to the cubic polynomial, wherein the fitting coefficient comprises a constant term coefficient, a first term coefficient and a second term coefficient.
In an implementation manner of the first aspect, the step of combining the lane change time, the road width and the current speed of the vehicle to perform a track compensation process on the fitting coefficient and determine a compensated fitting coefficient includes: combining the lane changing time and the road width, performing deviation compensation processing on the constant term coefficient, and determining a first compensation coefficient; performing angle compensation processing on the primary term coefficient by combining the lane changing time and the current speed of the vehicle, and determining a second compensation coefficient; and combining the second compensation coefficient, the lane changing time and the current speed of the vehicle, performing curvature compensation processing on the quadratic term coefficient, and determining a third compensation coefficient.
In an implementation manner of the first aspect, the step of determining the lane change track based on the compensation fitting coefficient includes: taking the first compensation coefficient as a new constant term coefficient, taking the second compensation coefficient as a new first term coefficient, and taking the third compensation coefficient as a new second term coefficient; the expression for determining the lane change track is as follows: y=first compensation coefficient+second compensation coefficient x+third compensation coefficient x 2+cubic term coefficient x3; wherein Y represents the ordinate of the midpoint of the lane change track, and x represents the abscissa of the midpoint of the lane change track.
In an implementation manner of the first aspect, after the step of determining the lane-change trajectory based on the compensation fitting coefficient, the method further includes: and carrying out track compensation processing on the first compensation coefficient, the second compensation coefficient and the third compensation coefficient by combining the lane changing time, the road width and the current speed of the vehicle so as to carry out iterative updating on the lane changing track.
In one implementation manner of the first aspect, the method further includes: presetting a corresponding relation between the speed of a vehicle and/or the curvature of a road and the lane change time; and calibrating the lane change time according to the current speed of the vehicle and/or the curvature of the road in the actual driving scene.
In a second aspect, the present application provides a system for generating an intelligent driving lane-change trajectory, the system comprising: a lane information acquisition module configured to acquire lane center line information; the lane center line information comprises coordinate information of each acquisition point of the lane center line and a lane line function expression correlation coefficient; a coefficient determination module configured to determine a fitting coefficient of a lane center line from the lane center line information; the coefficient compensation module is configured to combine the lane changing time, the road width and the current speed of the vehicle, perform track compensation processing on the fitting coefficient and determine a compensation fitting coefficient; and the lane change track determining module is configured to determine a lane change track based on the compensation fitting coefficient.
In a third aspect, the present application provides an electronic device, including: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory so as to enable the electronic device to execute the method.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which when executed by an electronic device implements the method.
As described above, the method, the system, the electronic device and the medium for generating the intelligent driving lane change track have the following beneficial effects:
the method realizes the generation of the lane change track under the requirement of a low-calculation-force project through the compensation and iterative updating of the cubic polynomial coefficient; the algorithm does not contain the algorithms of high calculation force requirements such as scattering points, matrix operation, quadratic programming, maximum solution and the like; the track change track output by the method is different from the complex schemes such as the prior cubic spline curve interpolation or curve splicing, and the track change track can be continuously and iteratively updated; the lane change track output by the algorithm has stability and smoothness, has no large noise, and can also meet the intelligent driving lane change requirement.
Drawings
Fig. 1 is a schematic application scenario diagram of a method for generating an intelligent driving lane change track according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of a method for generating an intelligent driving lane change trajectory according to an embodiment of the present application.
Fig. 3 shows a coefficient compensation flowchart of a method for generating an intelligent driving lane change trajectory according to an embodiment of the present application.
Fig. 4 shows a first compensation coefficient variation diagram of the method for generating the intelligent driving lane change track according to the embodiment of the present application.
Fig. 5 shows a second compensation coefficient variation diagram of the method for generating an intelligent driving lane change track according to the embodiment of the present application.
Fig. 6 shows a third compensation coefficient variation diagram of the method for generating an intelligent driving lane change track according to the embodiment of the present application.
Fig. 7 shows a vehicle lane-change trajectory chart of the method for generating an intelligent driving lane-change trajectory according to the embodiment of the application.
Fig. 8 is a schematic structural diagram of a system for generating an intelligent driving lane change track according to an embodiment of the present application.
Fig. 9 is a schematic diagram showing structural connection of an electronic device according to an embodiment of the present application.
Description of element reference numerals
8. Intelligent driving lane change track generation system
81. Lane information acquisition module
82. Coefficient determination module
83. Coefficient compensation module
84. Track changing track determining module
S21 to S24 steps
Steps S231 to S233
Detailed Description
Other advantages and effects of the present application will become apparent to those skilled in the art from the present disclosure, when the following description of the embodiments is taken in conjunction with the accompanying drawings. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that, the illustrations provided in the following embodiments merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
The following embodiments of the present application provide a method, a system, an electronic device, and a medium for generating an intelligent driving lane change track, which are applied to, but not limited to, an intelligent driving vehicle lane change scene, and the application scene will be described below as an example.
Referring to fig. 1, an application scenario diagram of a method for generating an intelligent driving lane change track according to an embodiment of the present application is shown. As shown in fig. 1, the present embodiment shows an intelligent driving vehicle lane changing scenario in which an autonomous driving vehicle traveling in an L1 lane will change lane from lane L1 to lane L2 through the lane center line. In the scene, the lane change track of the vehicle from the lane L1 to the lane L2 is generated by using the intelligent driving lane change track generation method.
The following describes the technical solutions in the embodiments of the present application in detail with reference to the drawings in the embodiments of the present application.
Referring to fig. 2, a schematic flowchart of a method for generating an intelligent driving lane change track according to an embodiment of the present application is shown.
As shown in fig. 2, the present embodiment provides a method for generating an intelligent driving lane change track, which specifically includes the following steps:
s21, lane center line information is obtained; the lane center line information comprises the coordinate information of each acquisition point of the lane center line and the correlation coefficient of the lane line function expression.
In an embodiment, the step of acquiring lane center line information includes at least one of the following steps:
(1) And acquiring a cubic polynomial of which the lane center line is fitted in advance based on the coordinate information.
Specifically, if the lane center line is obtained, the processed three-degree polynomial y=a is perceived in advance or is called by a certain data storage party 0 +A 1 *x+A 2 *x 2 +A 3 *x 3 Can be directly used.
(2) Coordinate information of scattered acquisition points on a lane central line is acquired, and a cubic polynomial is fitted based on the coordinate information of the scattered acquisition points.
Specifically, if coordinate information of scattered sensor acquisition points on a lane center line is received, a polynomial fitting of three times is required: y=a 0 +A 1 *x+A 2 *x 2 +A 3 *x 3 。
S22, determining the fitting coefficient of the lane center line according to the lane center line information.
In one embodiment, the step of determining the fitting coefficient of the lane center line according to the lane center line information includes:
and determining a fitting coefficient of the lane center line according to the cubic polynomial, wherein the fitting coefficient comprises a constant term coefficient, a first term coefficient and a second term coefficient.
Specifically, for the third order polynomial y=a 0 +A 1 *x+A 2 *x 2 +A 3 *x 3 The determined fitting coefficients include constant term coefficients A 0 Coefficient of primary term A 1 Coefficient of quadratic term A 2 And cubic term coefficient A 3 。
S23, track compensation processing is carried out on the fitting coefficients by combining the lane changing time, the road width and the current speed of the vehicle, and compensation fitting coefficients are determined.
Referring to fig. 3, a coefficient compensation flowchart of a method for generating an intelligent driving lane change track according to an embodiment of the present application is shown. As shown in fig. 3, step S23 specifically includes:
s231, combining the lane change time and the road width, performing deviation compensation processing on the constant term coefficient, and determining a first compensation coefficient.
Specifically, the constant term coefficient A of the polynomial of the sensory output third order is based on a Cartesian coordinate system (taking the rear axle of the vehicle as the center) 0 Based on independent variables such as the variable track time Ts, the road width Lw and the like, performing deviation compensation to obtain lc_A 0 (lane change A0); the formula is as follows:
in practical application, the formula (1) is output when lane change is just started, and the formula (2) is output when a vehicle runs from the own lane to the target lane through the lane line; wherein Lw is the width of the lane, ts is the lane changing time (which can be calibrated in practical application), and lc_A is the vehicle running track in the lane changing process 0 The coefficient change is shown in fig. 4, the abscissa is time, and the ordinate is the lane change locus value.
S232, combining the lane change time and the current speed of the vehicle, performing angle compensation processing on the primary term coefficient, and determining a second compensation coefficient.
Specifically, the first order coefficient A of the third order polynomial to be perceptually output 1 Based on the independent variables such as the lane changing time Ts, the current speed V of the vehicle and the like, performing angle compensation to obtain a new coefficient lc_A 1 The formula is as follows:
wherein sign is a sign (plus or minus 1) converted by a vehicle coordinate system when the vehicle passes through a lane line and runs from a host lane to a target lane, and lc_A of a vehicle running track in the lane changing process 1 The coefficient change is shown in fig. 5, with time on the abscissa and lane change track value on the ordinate.
S233, combining the second compensation coefficient, the lane change time and the current speed of the vehicle, performing curvature compensation processing on the quadratic term coefficient, and determining a third compensation coefficient.
Specifically, the quadratic coefficient A of the cubic polynomial is output in a perception way 2 Angle compensation lc_a calculated based on step S232 1 And the independent variables such as the lane changing time Ts, the current speed V of the vehicle and the like are subjected to curvature compensation to obtain a new coefficient lc_A 2 The method comprises the steps of carrying out a first treatment on the surface of the The formula is as follows:
sign is a symbol (positive and negative 1) of a vehicle coordinate system conversion when a vehicle passes through a lane line and runs from a lane to a target lane; lc_a of vehicle travel track during lane change 2 The coefficient change is shown in fig. 6, with time on the abscissa and lane change track value on the ordinate.
S24, determining the lane change track based on the compensation fitting coefficient.
In one embodiment, step S24 specifically includes:
(1) And taking the first compensation coefficient as a new constant term coefficient, the second compensation coefficient as a new first term coefficient and the third compensation coefficient as a new second term coefficient.
(2) The expression for determining the lane change track is as follows: y=first compensation coefficient+second compensation coefficient x+third compensation coefficient x 2+cubic term coefficient x3; wherein Y represents the ordinate of the midpoint of the lane change track, and x represents the abscissa of the midpoint of the lane change track.
Specifically, the correlation new coefficient lc_A is obtained according to the above steps 0 、Lc_A 1 、Lc_A 2 Input into the original cubic equation, and obtain the equation as Y=lc_A 0 +Lc_A 1 *x+Lc_A 2 *x 2 +A 3 *x 3 。
In an embodiment, after the step of determining a lane-change trajectory based on the compensation fitting coefficients, the method further comprises:
and carrying out track compensation processing on the first compensation coefficient, the second compensation coefficient and the third compensation coefficient by combining the lane changing time, the road width and the current speed of the vehicle so as to carry out iterative updating on the lane changing track.
Specifically, steps S23 and S24 are repeated, and the data in the continuous time is iterated, so that the lane change track of the vehicle running in the lane change process changes as shown in fig. 7, and the abscissa is time and the ordinate is the lane change track value.
In practical application, the lane line function expression of the lane change track generation method takes a cubic spline curve as an example, and can also be derived into an N-time curve, and the lane change track is obtained by the lane change track generation method; moreover, the coefficient compensation method of the Nth-order curve can be different; it is possible to compensate N-1, and also N-N.
In one embodiment, the method further comprises:
presetting a corresponding relation between the speed of a vehicle and/or the curvature of a road and the lane change time; and calibrating the lane change time according to the current speed of the vehicle and/or the curvature of the road in the actual driving scene.
Specifically, for example, based on the vehicle speed, the vehicle speed is 50km/h, the lane change time is set to 7s, and the vehicle speed is 80km/h, the lane change time is set to 5s; similarly, based on curve working condition lane changing, if the curvature of the road is smaller, the lane changing time is set to be shorter, and if the curvature of the road is larger, the lane changing time can be set to be longer. The specific scene is based on the actual situation; if the road is changed under the working condition scene that the curvature of the road is larger, for example, a curve ramp with the curvature radius of 50m, the road is not recommended at the moment in consideration of safety factors, and therefore, the road changing time calibration is not carried out. In practical application, the corresponding relation between the vehicle speed and/or the road curvature and the lane change time can find the calibration value of the corresponding lane change time in the actual driving scene by a one-dimensional table look-up or two-dimensional table look-up mode.
The protection scope of the intelligent driving lane change track generation method according to the embodiment of the application is not limited to the step execution sequence listed in the embodiment, and all the schemes implemented by step increase, step decrease and step replacement according to the prior art made by the principle of the application are included in the protection scope of the application.
The embodiment of the application also provides a system for generating the intelligent driving lane-changing track, which can realize the method for generating the intelligent driving lane-changing track, but the implementation device of the method for generating the intelligent driving lane-changing track comprises but is not limited to the structure of the system for generating the intelligent driving lane-changing track enumerated in the embodiment, and all the structural variations and substitutions of the prior art according to the principles of the application are included in the protection scope of the application.
Referring to fig. 8, a schematic structural diagram of a system for generating an intelligent driving lane change track according to an embodiment of the present application is shown. As shown in fig. 8, the present embodiment provides a system 8 for generating an intelligent driving lane change track, which specifically includes: a lane information acquisition module 81, a coefficient determination module 82, a coefficient compensation module 83, and a lane change trajectory determination module 84.
The lane information acquisition module 81 is configured to acquire lane center line information; the lane center line information comprises the coordinate information of each acquisition point of the lane center line and the correlation coefficient of the lane line function expression.
In one embodiment, the lane information obtaining module 81 is specifically configured to obtain a cubic polynomial that is fitted in advance to the lane center line based on the coordinate information; or acquiring the coordinate information of scattered acquisition points on the lane central line, and fitting the coordinate information of the scattered acquisition points into a cubic polynomial.
The coefficient determination module 82 is configured to determine a fitting coefficient for a lane centerline from the lane centerline information.
In one embodiment, the coefficient determination module 82 is specifically configured to determine a fitting coefficient of the lane center line according to the third order polynomial, the fitting coefficient including a constant term coefficient, a first order term coefficient, and a second order term coefficient.
The coefficient compensation module 83 is configured to perform a track compensation process on the fitting coefficients in combination with the lane change time, the road width and the current speed of the vehicle, to determine compensation fitting coefficients.
In one embodiment, the coefficient compensation module 83 is specifically configured to combine the lane change time and the road width, perform bias compensation processing on the constant term coefficient, and determine a first compensation coefficient; performing angle compensation processing on the primary term coefficient by combining the lane changing time and the current speed of the vehicle, and determining a second compensation coefficient; and combining the second compensation coefficient, the lane changing time and the current speed of the vehicle, performing curvature compensation processing on the quadratic term coefficient, and determining a third compensation coefficient.
The lane-change-trajectory determination module 84 is configured to determine a lane-change trajectory based on the compensation fitting coefficients.
In one embodiment, the lane-change trajectory determining module 84 is specifically configured to use the first compensation coefficient as a new constant term coefficient, the second compensation coefficient as a new first order term coefficient, and the third compensation coefficient as a new second order term coefficient; the expression for determining the lane change track is as follows: y=first compensation coefficient+second compensation coefficient x+third compensation coefficient x 2+cubic term coefficient x3; wherein Y represents the ordinate of the midpoint of the lane change track, and x represents the abscissa of the midpoint of the lane change track.
In one embodiment, the system further comprises: and the iteration updating module is configured to perform track compensation processing on the first compensation coefficient, the second compensation coefficient and the third compensation coefficient in combination with the lane changing time, the road width and the current speed of the vehicle so as to perform iteration updating on the lane changing track.
In one embodiment, the system further comprises: the lane change time calibration module is configured to preset the corresponding relation between the vehicle speed and/or the road curvature and the lane change time; and calibrating the lane change time according to the current speed of the vehicle and/or the curvature of the road in the actual driving scene.
In the several embodiments provided in this application, it should be understood that the disclosed system or method may be implemented in other ways. For example, the system embodiments described above are merely illustrative, e.g., the division of modules/units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple modules or units may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules or units, which may be in electrical, mechanical or other forms.
The modules/units illustrated as separate components may or may not be physically separate, and components shown as modules/units may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules/units may be selected according to actual needs to achieve the purposes of the embodiments of the present application. For example, functional modules/units in various embodiments of the present application may be integrated into one processing module, or each module/unit may exist alone physically, or two or more modules/units may be integrated into one module/unit.
Those of ordinary skill would further appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The application provides an electronic device, the electronic device includes: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory so as to enable the electronic device to execute the method.
Fig. 9 is a schematic structural connection diagram of an electronic device according to an embodiment of the present application. As shown in fig. 9, the electronic apparatus 9 of the present application includes: a processor 91, a memory 92, a communication interface 93, or/and a system bus 94. The memory 92 and the communication interface 93 are connected to the processor 91 via a system bus 94 and perform communication with each other, the memory 92 is used for storing a computer program, the communication interface 93 is used for communicating with other devices, and the processor 91 is used for running the computer program to cause the electronic device 9 to execute the steps of the method for generating the intelligent driving lane change trajectory.
The processor 91 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field programmable gate arrays (Field Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The memory 92 may include a random access memory (Random Access Memory, simply referred to as RAM), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
The system bus 94 mentioned above may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The system bus 94 may be classified as an address bus, a data bus, a control bus, or the like. The communication interface is used for realizing communication between the database access device and other devices (such as a client, a read-write library and a read-only library).
Embodiments of the present application also provide a computer-readable storage medium. On which a computer program is stored which, when being executed by an electronic device, implements the described method.
Those of ordinary skill in the art will appreciate that all or part of the steps in the method implementing the above embodiments may be implemented by a program to instruct a processor, where the program may be stored in a computer readable storage medium, where the storage medium is a non-transitory (non-transitory) medium, such as a random access memory, a read only memory, a flash memory, a hard disk, a solid state disk, a magnetic tape (magnetic tape), a floppy disk (floppy disk), an optical disk (optical disk), and any combination thereof. The storage media may be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.
The descriptions of the processes or structures corresponding to the drawings have emphasis, and the descriptions of other processes or structures may be referred to for the parts of a certain process or structure that are not described in detail.
The foregoing embodiments are merely illustrative of the principles of the present application and their effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those of ordinary skill in the art without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications and variations which may be accomplished by persons skilled in the art without departing from the spirit and technical spirit of the disclosure be covered by the claims of this application.
Claims (10)
1. The method for generating the intelligent driving lane change track is characterized by comprising the following steps of:
acquiring lane center line information; the lane center line information comprises coordinate information of each acquisition point of the lane center line and a lane line function expression correlation coefficient;
determining a fitting coefficient of the lane center line according to the lane center line information;
track compensation processing is carried out on the fitting coefficient by combining the lane changing time, the road width and the current speed of the vehicle, and a compensation fitting coefficient is determined;
and determining the lane change track based on the compensation fitting coefficient.
2. The method of claim 1, wherein the step of obtaining lane centerline information comprises at least one of:
acquiring a cubic polynomial of a lane center line fitted in advance based on coordinate information;
coordinate information of scattered acquisition points on a lane central line is acquired, and a cubic polynomial is fitted based on the coordinate information of the scattered acquisition points.
3. The method of claim 2, wherein the step of determining the fitting coefficients of the lane center line from the lane center line information comprises:
and determining a fitting coefficient of the lane center line according to the cubic polynomial, wherein the fitting coefficient comprises a constant term coefficient, a first term coefficient and a second term coefficient.
4. A method according to claim 3, wherein the step of performing a track compensation process on the fitting coefficients in combination with the lane change time, the road width and the current speed of the vehicle, and determining a compensated fitting coefficient comprises:
combining the lane changing time and the road width, performing deviation compensation processing on the constant term coefficient, and determining a first compensation coefficient;
performing angle compensation processing on the primary term coefficient by combining the lane changing time and the current speed of the vehicle, and determining a second compensation coefficient;
and combining the second compensation coefficient, the lane changing time and the current speed of the vehicle, performing curvature compensation processing on the quadratic term coefficient, and determining a third compensation coefficient.
5. The method of claim 4, wherein the step of determining a lane-change trajectory based on the compensation fit coefficients comprises:
taking the first compensation coefficient as a new constant term coefficient, taking the second compensation coefficient as a new first term coefficient, and taking the third compensation coefficient as a new second term coefficient;
the expression for determining the lane change track is as follows: y=first compensation coefficient+second compensation coefficient x+third compensation coefficient x 2 +cubic term coefficient x 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein Y represents the ordinate of the midpoint of the lane change track, and x represents the abscissa of the midpoint of the lane change track.
6. The method of claim 5, wherein after the step of determining a lane-change trajectory based on the compensation fit coefficients, the method further comprises:
and carrying out track compensation processing on the first compensation coefficient, the second compensation coefficient and the third compensation coefficient by combining the lane changing time, the road width and the current speed of the vehicle so as to carry out iterative updating on the lane changing track.
7. The method according to claim 1, wherein the method further comprises:
presetting a corresponding relation between the speed of a vehicle and/or the curvature of a road and the lane change time;
and calibrating the lane change time according to the current speed of the vehicle and/or the curvature of the road in the actual driving scene.
8. A system for generating an intelligent driving lane-change trajectory, the system comprising:
a lane information acquisition module configured to acquire lane center line information; the lane center line information comprises coordinate information of each acquisition point of the lane center line and a lane line function expression correlation coefficient;
a coefficient determination module configured to determine a fitting coefficient of a lane center line from the lane center line information;
the coefficient compensation module is configured to combine the lane changing time, the road width and the current speed of the vehicle, perform track compensation processing on the fitting coefficient and determine a compensation fitting coefficient;
and the lane change track determining module is configured to determine a lane change track based on the compensation fitting coefficient.
9. An electronic device, the electronic device comprising: a processor and a memory;
the memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory, to cause the electronic device to perform the method according to any one of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by an electronic device, implements the method of any one of claims 1 to 7.
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