The invention provides a lane changing control method and system for a port automatic driving vehicle, and belongs to the technical field of automatic driving. The system comprises a plurality of unmanned vehicles moving in a port range, each unmanned vehicle is provided with a first wireless distance communication sensor, and a second wireless distance communication sensor and a third wireless distance communication sensor are arranged in a port entering area and a port departing area respectively; the port entering or departure state of the unmanned vehicle is determined based on interaction signals of different wireless distance communication sensors, then the advancing state of the unmanned vehicle is controlled, and state change comprises lane changing or continuous driving. The method comprises the step of executing lane changing control through the judgment mode when it is determined that two unmanned vehicles running in the opposite direction on the same lane currently exist. According to the technical scheme of the invention, for a plurality of unmanned vehicles in a port range comprising a plurality of departure areas and/or arrival areas, the arrival-departure balance can be maintained while the transportation of the port is ensured not to be blocked according to the departure or arrival state of the areas or the whole.

    本发明提出港口自动驾驶车辆变道控制方法及系统,属于自动驾驶技术领域。系统包括在港口范围内移动的多个无人车,无人车配置第一无线距离通信传感器,进港区域和离港区域分别配置第二无线距离通信传感器和第三无线距离通信传感器;基于不同无线距离通信传感器的交互信号确定无人车的进港或者离港状态,进而控制无人车的行进状态,状态改变包括变道或者继续行驶。方法包括在确定当前存在在同一车道对向行驶的两辆无人车时通过上述判断方式执行变道控制。本发明的技术方案针对包含多个离港区域和/或进港区域的港口范围的多辆无人车,能够根据区域或者整体的离港或者进港状态,确保港口的运输不出现阻塞的同时维持进港‑离港平衡。


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    Titel :

    Lane changing control system and method for port automatic driving vehicle


    Weitere Titelangaben:

    一种港口自动驾驶车辆变道控制系统及方法


    Beteiligte:
    CHEN XIANGPING (Autor:in)

    Erscheinungsdatum :

    2023-12-26


    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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