The invention relates to an automatic driving active lane changing method and system on an expressway, and the method comprises the steps: T1, obtaining the image data information of two sides and a front road of a vehicle based on a vehicle-mounted camera, obtaining the data information of an obstacle on the front road of the vehicle based on a vehicle-mounted laser radar, acquiring traffic data information of roads in front of the vehicle based on the high-precision map, and acquiring vehicle speed and acceleration data information based on a vehicle inertial navigation system; t2, data information of a lane where the vehicle is located and data information of an adjacent lane are obtained according to the image data information of the roads on the two sides and in front of the vehicle, the data information of the lane where the vehicle is located is the highest speed limit data information of the lane where the vehicle is located, and the data information of the adjacent lane is the highest speed limit data information of the adjacent lane. According to the method, the situation that one-time lane changing cannot be completed due to the fact that lane changing is carried out only when a congestion point is approached or a fault occurs is avoided, and the lane changing success rate, the system safety and the final user experience can be improved.

    本发明涉及一种高速道路上的自动驾驶主动变道方法及系统,所述方法包括T1.车辆行驶在高速道路上,基于车载摄像头获取车辆两侧及前方道路图像数据信息,基于车载激光雷达获取车辆前方道路障碍物数据信息,基于高精度地图获取车辆前方道路交通数据信息,基于车辆惯导系统获取车辆速度和加速度数据信息;T2.根据所述车辆两侧及前方道路图像数据信息,得到车辆所在车道数据信息和相邻车道数据信息,所述车辆所在车道数据信息为车辆所在车道最高限速数据信息,所述相邻车道数据信息为相邻车道最高限速数据信息。本发明不仅避免在接近拥堵点或故障时才进行变道,从而导致无法一次变道完成,而且可以提升变道成功率、系统安全性和最终的用户体验。


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    Titel :

    Automatic driving active lane changing method and system on expressway


    Weitere Titelangaben:

    一种高速道路上的自动驾驶主动变道方法及系统


    Beteiligte:
    WANG YONGFENG (Autor:in) / CAI YING (Autor:in) / GUO XUN (Autor:in)

    Erscheinungsdatum :

    2023-06-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein



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