The invention relates to an autonomous overtaking method and system. The method includes the steps of: defining a state lattice space; determining trajectory parameters in different overtaking stages according to the state lattice space; constructing a vehicle motion model according to the state lattice space and the trajectory parameters in different overtaking stages; generating a vehicle prediction track according to the vehicle motion model; and performing overtaking trajectory tracking according to the vehicle prediction trajectory, and determining an overtaking decision based on a semi-Markov decision process. Safe and efficient autonomous overtaking of the vehicle is achieved, and the problem that trajectory tracking is difficult in the overtaking process in the prior art is solved.
本发明涉及一种自主超车方法及系统。该方法包括定义状态晶格空间;根据状态晶格空间确定在超车不同阶段的轨迹参数;根据状态晶格空间以及在超车不同阶段的轨迹参数构建车辆运动模型;根据车辆运动模型生成车辆预测轨迹;根据车辆预测轨迹进行超车轨迹跟踪,并利用基于半马尔科夫决策过程确定超车决策。本发明实现车辆安全、高效的自主超车,解决现有技术中超车过程轨迹跟踪困难的问题。
Autonomous overtaking method and system
一种自主超车方法及系统
2021-11-19
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
AUTONOMOUS OVERTAKING METHOD AND SYSTEM FOR AUTOMATIC DRIVING VEHICLE
Europäisches Patentamt | 2023
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