The invention discloses an intelligent vehicle intersection right-handed rotation lane gap selection method and device. The method comprises the following steps: acquiring lane change microscopic information of a target vehicle; calculating a lane changing pressure coefficient of the target vehicle; calculating a critical safe lane changing gap allowing the target vehicle to change into the targetlane; calculating an actual lane changing gap in the target lane; judging a lane changing opportunity; the target vehicle decelerates according to the suggested acceleration to wait for the lane changing opportunity meeting the safe lane changing condition; and repeating the steps until the target vehicle meets the safe lane changing condition, and switching to enter the target lane. The method comprehensively considers the influence of the geometrical characteristics of the front and rear vehicles of the lane changing vehicle, the front and rear vehicles in the target lane and the intersection on the lane changing behavior of the vehicle, determines a more accurate lane changing opportunity point, and gives a suggested acceleration, thereby providing a reasonable judgment and decision basis for the right lane changing behavior of the intelligent vehicle at the intersection, and providing a guarantee for safe and efficient operation of vehicles in the intersection.
本发明公开了一种智能车交叉口右转换道间隙选择方法及装置,包括步骤为:获取目标车辆换道微观信息;计算目标车辆换道压力系数;计算允许目标车辆换入目标车道的临界安全换道间隙;计算目标车道内实际换道间隙;判断换道时机;目标车辆按照建议加速度进行减速,以等待满足安全换道条件的换道时机;重复上述步骤,直至目标车辆满足安全换道条件,切换进入目标车道。本发明综合考虑换道车辆前后方车辆、目标车道内前后车以及交叉口几何特征对车辆换道行为产生的作用影响,确定更为精确的换道时机点,并给出建议加速度,进而为智能车在交叉口的右转换道行为提供合理的判断和决策依据,为交叉口内车辆的安全高效运行提供保障。
Intelligent vehicle intersection right-handed rotation lane gap selection method and device
一种智能车交叉口右转换道间隙选择方法及装置
2021-03-19
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Intersection lane selection control method and device, vehicle and storage medium
Europäisches Patentamt | 2024
|Europäisches Patentamt | 2021
|Intelligent vehicle optimal lane selection method considering lane changing risk
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2024
|Right pre-signal control method for turning lane at road intersection
Europäisches Patentamt | 2023
|