The invention discloses an automatic driving vehicle cooperative lane changing method and device, and the method comprises the steps: S1, judging whether there is a lane changing demand or not according to high-precision map navigation information in the driving process of a vehicle, and if there is a lane changing demand, triggering a driving lane changing intention sending module of the vehicle, and sending a lane changing intention to other nearby vehicles; if not, not sending the lane changing intention; s2, after receiving the lane changing intention, the nearby vehicle makes a judgment in combination with the driving state of the nearby vehicle and the high-precision map navigation information, and changes the driving speed of the nearby vehicle to assist the vehicle sending the lane changing demand in lane changing; and S3, the vehicle sending the lane changing demand judges whether a lane changing condition is met or not according to the driving state of the vehicle and the high-precision map navigation information, if the lane changing condition is met, the vehicle is prompted to change a lane automatically, and if the lane changing condition is not met, lane changing is prompted to be forbidden or delayed.
本发明公开了一种自动驾驶车辆协同换道方法及设备,包括:S1,车辆在行驶过程中,根据高精度地图导航信息判断是否有换道需求,若有,则触发该车的行驶换道意图发送模块,将换道意图发送给附近其他车辆;否无换道需求,则不发送换道意图;S2,附近车辆接收换道意图后,结合自身行驶状态和高精度地图导航信息作出判断,并更改其行驶速度以协助发出换道需求的车辆换道;S3,发出换道需求的车辆结合自身行驶状态和高精度地图导航信息判断是否满足换道条件,若满足换道条件,则提示该车自行换道,若不满足换道条件,则提示禁止或延迟换道。
Collaborative lane changing method and device for autonomous vehicle
自动驾驶车辆协同换道方法及设备
10.05.2022
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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