The invention relates to the technical field of automatic driving, and discloses an automatic driving automobile lane changing optimization method based on digital twinning, which comprises the following steps: in an automatic driving scene, issuing a lane changing intention based on Internet of Vehicles communication; establishing lane changing cooperative communication with the vehicle in front of the target lane and the vehicle behind the target lane based on the lane changing intention; determining an optimal lane changing moment based on the lane changing environment data; constructing a cooperative game strategy based on the vehicle game, and determining a lane changing target position according to the cooperative game strategy; simulating a lane changing target position and an optimal lane changing moment based on digital twinning, and projecting the lane changing target position and the optimal lane changing moment from a digital space to a physical space; issuing a collaborative lane changing scheme; and feedback results of the vehicles in front of the target lane and the vehicles behind the target lane on the cooperative lane changing scheme are obtained, and the cooperative lane changing scheme is executed under the condition that the feedback results are cooperative lane changing. The method can meet the lane changing requirements of the self-driving automobile in different scenes, and has high adaptability and universality.

    本发明涉及自动驾驶技术领域,公开了一种基于数字孪生的自动驾驶汽车换道优化方法,包括:在自动驾驶场景下,基于车联网通信发布换道意图;基于换道意图,与目标车道前车、目标车道后车建立换道协作通信;基于换道环境数据确定最优换道时刻;基于车辆博弈构建协作博弈策略,根据协作博弈策略确定换道目标位置;基于数字孪生对换道目标位置和最优换道时刻进行模拟,将换道目标位置和最优换道时刻由数字空间投影至物理空间;发布协作换道方案;获取目标车道前车和目标车道后车对协作换道方案的反馈结果,在反馈结果为配合换道的情况下,执行协作换道方案。本发明能够满足自动驾驶汽车在不同场景下的换道需求,具备较强的适应性和普适性。


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    Titel :

    Automatic driving automobile lane changing optimization method based on digital twinning


    Weitere Titelangaben:

    一种基于数字孪生的自动驾驶汽车换道优化方法


    Beteiligte:
    MIAO XINYUE (Autor:in) / YU RONG (Autor:in) / WANG XIAOXU (Autor:in) / HU YAQI (Autor:in) / HUANG ZEYIN (Autor:in) / LI HE (Autor:in)

    Erscheinungsdatum :

    2023-11-03


    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



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