The invention discloses a vehicle lane changing decision-making method based on a longitudinal safety distance. The method comprises the following steps: 1, establishing a model; and 2, adjusting andchanging lanes. In the first step, according to the speed change rule of the lane changing process of a lane changing vehicle, a minimum longitudinal safety distance model that the lane changing vehicle does not collide with a vehicle in front of the lane and a vehicle in front of a target lane is established; and in the second step, whether a safe lane changing condition is met or not is judged according to collected information in combination with a safe distance model, when the safe lane changing condition is not met, longitudinal speed adjustment is conducted till the safe lane changing condition is met, then lane changing is conducted, the lane changing moment under an adjustment strategy is solved, and verification is conducted. The lane changing decision-making method is provided for solving the problems that in the lane changing driving process of the intelligent vehicle, the intelligent vehicle possibly collides with the vehicle in front of the lane and the vehicle in front ofthe target lane, safe driving of a driver is facilitated, the accident rate is reduced, and the lane changing decision-making method has very high application significance in actual road driving.
本发明公开了一种基于纵向安全距离的车辆换道决策方法,包括以下步骤:步骤一,建立模型;步骤二,调整换道;其中在上述步骤一中,根据换道车辆换道过程速度变化规律,建立换道车辆与本车道前车、目标车道前车不发生碰撞的最小纵向安全距离模型;其中在上述步骤二中,根据采集的信息结合安全距离模型判断是否满足安全换道条件,不满足时进行纵向速度调整直至满足安全换道条件再进行换道,对调整策略下的换道时刻进行求解,并进行验证,该发明针对智能车辆在换道行驶过程中,可能与本车道前车、目标车道前车发生碰撞等问题提供换道决策方法,有利于驾驶者的安全驾驶,降低了事故发生率,在实际道路行驶中具有很强的应用意义。
Vehicle lane changing decision-making method based on longitudinal safety distance
一种基于纵向安全距离的车辆换道决策方法
2021-01-22
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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