The invention provides a fusion type predictive lane changing cruise control method and device, and relates to the technical field of vehicles. The method comprises the steps of planning an energy-saving vehicle speed sequence of a self-driving vehicle based on static road information; determining a prediction state of the obstacle vehicle according to the current state of the obstacle vehicle within a preset distance range; according to the energy-saving vehicle speed sequence, a discretization behavior state space of the self-driving vehicle in the road section is constructed; determining a lane changing state point of the self-driving vehicle from the discretized behavior state space based on the energy-saving vehicle speed sequence and the predicted state of the obstacle vehicle; and according to the energy-saving vehicle speed sequence and the lane changing state point, a future optimal suggested state sequence of the self-driving vehicle is obtained, fusion type predictive lane changing cruise control is carried out on the self-driving vehicle, and the energy-saving effect of the vehicle can be enhanced.
本发明提供一种融合式预测性换道巡航控制方法及装置,涉及车辆技术领域。所述方法包括:基于静态道路信息,规划自驾车辆的节能车速序列;根据预设距离范围内障碍车辆的当前状态确定所述障碍车辆的预测状态;根据所述节能车速序列构建路段中自驾车辆的离散化行为状态空间;基于所述节能车速序列和所述障碍车辆的预测状态从所述离散化行为状态空间中确定所述自驾车辆的换道状态点;根据所述节能车速序列和所述换道状态点得到所述自驾车辆的未来最优建议状态序列,以对所述自驾车辆进行融合式预测性换道巡航控制,能够增强车辆的节能效果。
Fusion type predictive lane changing cruise control method and device
融合式预测性换道巡航控制方法及装置
15.04.2025
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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