The invention discloses a vehicle lane-changing steering assisting method based on driver comfort and lane-changing efficiency, which takes feasibility and safety of current vehicle lane-changing steering into consideration, and comprises the following steps of: firstly, acquiring vehicle positioning information; obtaining coordinate point information of a lane line and coordinate point information of a lane center line; taking the center line of the current lane line as a reference line, judging whether the driving states of the current vehicle and the surrounding vehicles meet the lane changing and steering conditions or not through a risk evaluation function, obtaining a plurality of smooth lane changing and steering tracks through quintic polynomial planning when lane changing and steering are executed, and constructing a track optimization function; and an optimal lane changing and steering track is screened out, and the accuracy, safety, comfort and high efficiency of the driver in the lane changing and steering process are comprehensively considered.
本发明公开了一种基于驾驶员舒适性与变道效率的车辆变道转向辅助方法,考虑当前车辆变道转向的可行性及安全性,基于驾驶员舒适性与变道效率的车辆变道转向辅助方法,首先获取车辆定位信息,获取车道线的坐标点信息和车道中心线的坐标点信息;以当前车道线中心线作为参考线,通过风险评价函数判断当前车辆与周边车辆的行驶状态是否满足变道转向条件,在执行变道转向时,通过五次多项式规划得到多条平滑的变道转向轨迹,构建轨迹优化函数,筛选出一条最优的变道转向轨迹,综合考虑驾驶员在变道转向过程中的准确性、安全性、舒适性、高效性。
Vehicle lane changing and steering auxiliary method based on driver control comfort
基于驾驶员操纵舒适性的车辆变道转向辅助方法
12.04.2024
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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