The invention provides controlling lane change of a vehicle. And identifying a target vehicle in the target lane when a lane change trigger for moving the self-awareness vehicle from the current lane to the target lane is detected. A set of candidate trajectories for a lane change maneuver is then constructed for each of the target vehicles in the target lane by determining a set of constraints for a lane change maneuver based on current data collected in the self-awareness vehicle, the constraint set comprises speed and distance constraints of the self-consciousness vehicle; and adding candidate trajectories of the lane changing maneuver satisfying constraints of the lane changing maneuver to the candidate trajectory set from the stored trajectory set. Upon determining that the set of candidate trajectories has been constructed for each of the target vehicles, an optimal trajectory is selected from the set of candidate trajectories. A longitudinal acceleration of the self-aware vehicle is commanded based on the optimal trajectory.
本公开提供了“控制车辆变道”。在检测到将自我意识车辆从当前车道移动到目标车道的变道触发时,识别所述目标车道中的目标车辆。然后通过以下操作为所述目标车道中的所述目标车辆中的每一者构建用于变道操纵的候选轨迹集合:基于在所述自我意识车辆中收集的当前数据来确定用于变道操纵的约束集合,所述约束集合包括所述自我意识车辆的速度和距离约束;以及从存储的轨迹集合向所述候选轨迹集合添加所述变道操纵的满足所述变道操纵的约束的候选轨迹。在确定已经为所述目标车辆中的每一者构建了所述候选轨迹集合时,从所述候选轨迹集合中选择最佳轨迹。基于所述最佳轨迹来命令所述自我意识车辆的纵向加速度。
CONTROLLING A VEHICLE LANE CHANGE
控制车辆变道
2024-01-05
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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