The invention discloses a lane-line-free high-speed driving lane changing decision-making method. The method comprises the following steps that whether a lane changing decision is activated or not is determined according to the vehicle speed; deciding to execute a car following mode or a cruising mode according to the target information; detecting a collision risk before a lane changing decision according to the sensed target information and the road environment information, and continuing subsequent judgment if no collision risk exists; and logically judging whether to activate a lane changing decision according to the cruise vehicle following state, the road environment information and the collision risk calculation result. According to the method, a decision judgment basis is provided by considering a front vehicle target overlapping rate, cruise vehicle following mode judgment, adjacent side target taillight judgment, road environment information and collision risk detection, so that the reliability of an autonomous lane changing decision under a lane-line-free high-speed driving working condition is improved, and the passing efficiency and the driving safety are ensured; high market economic benefits and wide application prospects are realized.
本发明公开了一种无车道线高速行驶换道决策方法,包括以下步骤:根据车速决定是否激活换道决策;根据目标信息决策执行跟车模式或巡航模式;根据感知的目标信息和道路环境信息检测换道决策前碰撞风险,若无碰撞风险则继续后续判别;根据巡航跟车状态、道路环境信息和碰撞风险计算结果进行逻辑判定是否激活换道决策。本发明考虑前车目标重叠率、巡航跟车模式判别、邻侧目标尾灯判别、道路环境信息和碰撞风险检测进行决策判别依据,提高了无车道线高速行驶工况下自主换道决策的可靠性,保证了通行效率和行车安全,具有较高的市场经济效益和广阔应用前景。
Lane-line-free high-speed driving lane changing decision-making method and system and storage medium
无车道线高速行驶换道决策方法、系统及存储介质
15.08.2023
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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