The invention discloses an expressway automatic lane changing method based on a drivable area. The method comprises the steps that an ADAS collects distance information, azimuth information and elevation angle relative fixed error information, data collected by the ADAS is subjected to space registration on a coordinate system, the data obtained after space registration are fused and subjected to dead reckoning, and lane changing control is conducted according to dead reckoning. According to the method, an expensive high-precision map and a high-precision positioning system are not used, a set of automatic lane changing strategy is established only by relying on information provided by a sensing system basically necessary for the ADAS system, and the function that the vehicle automatically changes the lane and finally enters the ramp to drive away from the highway is also completed.

    本发明公开了一种基于可行驶区域的高速公路自动变道方法,ADAS采集距离信息、方位信息和仰角相对固定误差信息,将ADAS采集的数据进行坐标系上的空间配准,将空间配准后的数据进行融合并进行航位推算,按照航位推算进行变道控制。本发明不使用昂贵的高精度地图和高精度定位系统,仅仅依靠ADAS系统基本必备的感知系统提供的信息,建立起了一套自动变道的策略,并同样完成车辆自动变道并最终进入下匝道驶离高速的功能。


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    Title :

    Expressway automatic lane changing method based on drivable area


    Additional title:

    一种基于可行驶区域的高速公路自动变道方法


    Contributors:
    ZHANG ZHENG (author)

    Publication date :

    2021-06-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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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