The invention provides an automatic driving lane changing decision making method and a device and a vehicle, and the method comprises the steps: constructing a travelable lane sequence comprising a current lane and a target lane based on the current lane where the current vehicle is located and an adjacent lane of the current lane; generating an ST graph of the current lane and an ST graph of thetarget lane according to the driving state of the current vehicle and the obstacle information of the current lane and the target lane; for each kind of drivable lane sequence, determining a lane changing track corresponding to the current drivable lane sequence according to the ST graphs of the current lane and the target lane in the current drivable lane sequence; and according to a cost function, selecting the lane changing track with the lowest cost as a lane changing decision result from lane changing tracks corresponding to each kind of drivable lane sequence. According to the method, the lane changing track of the travelable lane sequence is searched through the ST graph of the current lane of the current vehicle and the ST graph of the target lane, and the lane changing track obtained in the method is smooth and safe, so that the lane changing decision and the rationality of the lane changing opportunity are ensured.

    本发明提供了一种自动驾驶的变道决策方法、装置和车辆,基于当前车辆所处的当前车道和当前车道的相邻车道,构造包含有当前车道和目标车道的可行车道序列;根据当前车辆的行驶状态,及当前车道和目标车道的障碍物信息,生成当前车道的ST图和目标车道的ST图;针对每种可行车道序列,根据当前可行车道序列中当前车道和目标车道的ST图,确定当前可行车道序列对应的变道轨迹;根据代价函数从每种可行车道序列对应的变道轨迹中,选取代价最小的变道轨迹为变道决策结果。该方式通过当前车辆的当前车道的ST图和目标车道的ST图,搜索可行车道序列的变道轨迹,该方式获得的变道轨迹是平顺且安全的,从而保证了变道决策和变道时机的合理性。


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    Title :

    Automatic driving lane changing decision making method and device and vehicle


    Additional title:

    自动驾驶的变道决策方法、装置和车辆


    Contributors:
    XUE BING (author) / XU CHUANLUO (author) / HAN ZHIHUA (author) / ZHANG XU (author)

    Publication date :

    2021-03-09


    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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