The invention relates to an intelligent driving vehicle active lane changing system considering intelligent traffic flow. The system comprises a camera, a radar, a wheel speed sensor, an IMU assembly,a communication module, a GNSS module, an ECU module, an HMI module and a motion execution module. A lane changing comprehensive decision-making method comprises the steps: acquiring motion information of a host vehicle and the environmental vehicle, acquiring road basic information, judging the motion gain of lane changing, calculating the corresponding longitudinal minimum safety distance, judging whether the lane changing behavior greatly influences the traffic flow or not, and the like. According to the invention, on the basis of a traditional minimum safety distance model, under the conditions of different roads such as a straight road and a bent road, the influence of the road curvature on the minimum safety distance model is considered, the influence of the lane changing behavior on the traffic flow of the target lane is comprehensively considered, the lane changing system and a comprehensive decision model are established, a feasible decision basis is provided for lane changing of the intelligent networked automobile, and finally a comprehensive lane changing control method which is more comprehensive, more economical and more efficient is obtained.
本发明涉及一种考虑智能车群流量的智能驾驶车辆主动换道系统,换道系统包括摄像头、雷达、轮速传感器、IMU组件、通信模块、GNSS模块、ECU模块、HMI模块及运动执行模块;换道综合决策方法包括:获取本车辆以及环境车辆的运动信息、道路基本信息、判断换道的运动增益、计算对应的纵向最小安全距离、判断换道行为是否对车流量造成较大影响等步骤,本发明在传统的最小安全距离模型的基础上,分别在直道和弯道等不同道路情况下,考虑道路曲率对最小安全距离模型的影响,综合考虑换道行为对目标车道车流量的影响,建立了换道系统和综合决策模型,为智能网联汽车在换道时提供切实可行的决策依据,最终得到更全面、更经济以及更高效的综合换道控制方法。
Intelligent driving vehicle active lane changing system considering intelligent traffic flow
一种考虑智能车群流量的智能驾驶车辆主动换道系统
2020-07-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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