The invention relates to a motorcade collaborative driving lane changing control method. The method comprises the steps that a vehicle lane changing behavior rule base is established in advance in a controller of an automatic driving vehicle; when the automatic driving vehicle forms a team for cruising and encounters a triggering reason of a vehicle lane changing event, the vehicle lane changing event is triggered directly or after a motorcade splits the event; after the vehicle lane changing event is triggered, the controller of the automatic driving vehicle controls the automatic driving vehicle to execute a vehicle lane changing driving behavior based on a vehicle lane changing behavior rule base rule; and when the vehicle lane changing driving behavior is executed, the controller obtains pose information of the automatic driving vehicle, predicts to obtain the motion action of the automatic driving vehicle at the next moment, judges whether the motion action of the automatic driving vehicle at the next moment is matched with the vehicle lane changing behavior rule base or not, and if so, iteratively updates the vehicle lane changing driving behavior rule in the vehicle lane changing behavior rule base by utilizing the pose information of the current automatic driving vehicle. According to the invention, the optimal control effect on vehicle lane changing can be realized.

    本发明涉及一种车队协同驾驶换道控制方法,预先在自动驾驶车辆的控制器中建立车辆换道行为规则库;当自动驾驶车辆组队巡航、遭遇车辆换道事件触发原因时,直接或经车队拆分事件后触发车辆换道事件;触发车辆换道事件后,自动驾驶车辆的控制器基于车辆换道行为规则库规则控制自动驾驶车辆执行车辆换道驾驶行为;在执行车辆换道驾驶行为时,控制器获得自动驾驶车辆的位姿信息,并预测得到自动驾驶车辆下一时刻的运动动作、再判断自动驾驶车辆的下一时刻的运动动作与车辆换道行为规则库是否匹配,若匹配则利用当前自动驾驶车辆的位姿信息迭代更新车辆换道行为规则库中的车辆换道驾驶行为规则。本发明能够对车辆换道实现最优的控制效果。


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    Title :

    Motorcade collaborative driving lane changing control method


    Additional title:

    一种车队协同驾驶换道控制方法


    Contributors:
    MA YULIN (author) / XU YANG (author) / HUANG ZICHAO (author) / SUN CHUAN (author) / ZHENG SIFA (author) / MOU KANGWEI (author) / LI JIALIN (author)

    Publication date :

    2020-06-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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