The invention provides a vehicle automatic lane changing method. The method comprises the following steps: recognizing lane lines and obstacles around a vehicle; obtaining the center line of the laneaccording to the lane line, and generating a safe lane changing track according to the surrounding obstacle information and the vehicle initial position information when the target lane line exists; obtaining fused vehicle self-positioning information according to the center line information of the lane and a track plotting algorithm; calculating a control state variable of the vehicle according to the vehicle self-positioning information and the lane changing track; and controlling the vehicle to track the lane changing track according to control state variable so as to gradually complete lane changing operation. The vehicle self-positioning information is acquired in real time by adopting the sensor of the vehicle to detect the external information and combining the track plotting algorithm, so that the vehicle changes the lane along with the lane changing track.
本发明提供一种车辆自动变道方法,包括:识别车道线以及车辆周边障碍物;根据车道线获取本车道中心线、并且当目标车道线存在时,根据周边障碍物信息以及车辆初始位置信息生成安全的换道轨迹;根据本车道中心线信息以及航迹推算算法获得融合的车辆自定位信息;根据车辆自定位信息以及换道轨迹计算车辆的控制状态变量;根据控制状态变量控制车辆追踪换道轨迹以逐渐完成变道操作,本发明采用车辆自身传感器检测外部信息并结合航迹推算算法实时获取车辆自定位信息,从而使得车辆跟随换道轨迹进行变道。
Vehicle automatic lane changing method and device, vehicle and computer readable storage medium
车辆自动变道方法、装置、车辆以及计算机可读存储介质
2021-03-19
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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