A computer-implemented method of performing autonomous lane merging of a vehicle is provided. The method includes: identifying one or more objects on a plurality of lanes near a vehicle; identifying one or more gaps between the one or more objects; determining a mode of the vehicle; determining a terminal state of a planned trajectory of the vehicle based on the identified object, gap and mode of the vehicle; based on the terminal state of the planned trajectory, executing rationality check; if the rationality check is passed, generating a planned track of the vehicle; the planned trajectory is provided to a controller of the vehicle to autonomously move the vehicle according to the planned trajectory.
本申请提供了一种执行车辆的自主车道并线的由计算机实施的方法。所述方法包括:识别车辆附近多条车道上的一个或多个对象;识别一个或多个对象之间的一个或多个空隙;确定车辆的模式;基于识别的对象、空隙和车辆的模式,确定车辆的规划轨迹的终端状态;基于规划轨迹的终端状态,执行合理性检查;如果合理性检查通过,则生成车辆的规划轨迹;向车辆的控制器提供所述规划轨迹,以根据所述规划轨迹自主地移动所述车辆。
Autonomous lane merging system and method
自主车道并线系统和方法
2023-10-20
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 |