The invention discloses a method for determining a limit lane changing track of an automatic driving vehicle at an entrance lane of an intersection. The specific method mainly comprises the following three steps of: 1, generating a lane changing track set based on a quintic polynomial; 2, optimizing a lane changing track set by considering vehicle dynamics constraints; and 3, traversing the position of the lane changing starting point, and determining a limit lane changing starting point and a corresponding limit lane changing track. According to the method, vehicle condition constraints and road condition constraints are considered, the method for determining the limit lane changing track of the automatic driving vehicle at the entrance lane of the intersection is provided, early warning of the limit lane changing track is provided for the automatic driving vehicle, and therefore the driving safety, the lane changing success rate and the passing efficiency are improved.
本发明专利公开了一种交叉口进口道自动驾驶车辆极限换道轨迹的确定方法。具体方法主要包括三个步骤:一、生成基于五次多项式的换道轨迹集;二、考虑车辆动力学约束对换道轨迹集进行优化;三、遍历换道起点位置,确定极限换道起点及其对应的极限换道轨迹。本发明专利考虑车辆自身条件约束和道路条件约束,提出交叉口进口道自动驾驶车辆极限换道轨迹的确定方法,为自动驾驶车辆提供了极限换道轨迹的预警,从而提高驾驶安全性、换道成功率和通行效率。
Method for determining limit lane changing track of automatic driving vehicle at entrance lane of intersection
一种交叉口进口道自动驾驶车辆极限换道轨迹的确定方法
2023-01-13
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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