The invention relates to an automatic lane changing method for an automatic driving automobile based on a traffic gap. The method comprises steps of determining a demand for changing a lane to a target lane, and determining a proper traffic gap between automobiles in the target lane; acquiring the motion state information of a target lane and automobiles on the lane through corresponding sensors;judging whether an automobile traffic gap meeting lane changing exists on the target lane at the current moment or not, if yes, a short-term target is formed, and performing lane changing; and if not,forming a long-term plan, and generating predicted motion states of the target lane and the automobile on the lane at the future moment so as to attempt to realize the possibility of forcibly changing the lane to the target lane. The method is advantaged in that the lane changing process is divided into the short-term target and the long-term plan, states of the target lane and the automobile onthe lane at the current moment are considered, the motion states of the target lane and the automobile on the lane at the future prediction moment are further considered, and the possibility of successful lane changing is increased.

    本发明是一种基于交通间隙的自动驾驶车辆的自动变道方法,该方法包括:确认需要向目标车道变道需求,并确定目标车道中合适的车间交通间隙;通过相应传感器获得目标车道以及本车道上车辆的运动状态信息;判断当前时刻目标车道上是否有满足变道的车间交通间隙;若满足,形成短期目标,执行变道;若不满足,形成长期计划,生成未来时刻目标车道和本车道上车辆的预测运动状态,以尝试实现强行变道至目标车道的可能性。本发明将变道过程分为短期目标和长期计划,不仅考虑了当前时刻目标车道和本车道上车辆的状态,还考虑了未来预测时刻目标车道和本车道上车辆的运动状态,增加了换道成功的可能性。


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    Title :

    Automatic lane changing method of automatic driving automobile based on traffic gap


    Additional title:

    一种基于交通间隙的自动驾驶车辆的自动变道方法


    Contributors:
    XU CHUANLUO (author) / HAN ZHIHUA (author) / DU YIGUANG (author)

    Publication date :

    2020-09-08


    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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