The invention discloses a queue lane changing method. The method comprises the following steps of 1) numbering vehicles V1, V2, V3, Vx... Vn in sequence according to an advancing direction of a motorcade, and setting a driving speed of a queue to be v; 2) judging whether the Vx meets a safe distance with a rear vehicle in a target lane or not; 3) after the vehicle Vx changes the lane, the rest vehicles V1, V2, V3... Vn form a new queue; 4) keeping a horizontal distance between the tail vehicle Vn of the new queue and the vehicle Vx so as to avoid overtaking in the target lane; 5) judging whether the V1 meets the safe distance with a front vehicle in the target lane or not; 6) confirming that there is no other vehicles in the target lane; 7) collectively changing the lane of the new queue when conditions are simultaneously met; and 8) feeding back a lane changing completion state. According to the queue lane changing method, a head vehicle can be kept unchanged, the lane changing condition is easy to meet, lane changing can be achieved at any time, implementation difficulty of a software algorithm is lowered, and the lane changing time is shortened.
本发明公开了一种队列换道的方法,该方法包括如下步骤:1)根据车队前进方向,依次对车辆进行编号V1、V2、V3、Vx……Vn,队列行驶车速为v;2)Vx判断与目标车道内后方车辆是否满足安全距离;3)车辆Vx变道以后,其余的车辆V1、V2、V3……Vn形成新队列;4)新队列的尾车Vn与车辆Vx保持水平距离,避免在目标车道内被超车;5)V1判断与目标车道内前方车辆是否满足安全距离;6)确认目标车道内无其他车辆;7)条件同时满足时,新队列集体换道;8)将完成换道的状态进行反馈操作。本发明的队列换道的方法可保持头车不变,变道条件容易满足,可以实现随时变道,降低了软件算法的实施难度,缩短了换道时间。
Queue lane changing method
一种队列换道的方法
2020-10-27
Patent
Electronic Resource
Chinese
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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