The invention relates to the technical field of automatic driving control, and provides a lane changing control method for an automatic driving vehicle in order to solve the problem that at present, when a driver judges lane changing, traffic accidents occur due to the fact that the driver cannot find vehicles running in a target lane in time. The method comprises an information acquisition step of acquiring road condition information and navigation information of a road where the current vehicle is located, a lane changing judgment step of analyzing the obtained road condition information and navigation information and judging whether lane changing is needed or not, a vehicle condition acquisition step of when lane changing is determined to be needed, acquiring the speed of the current vehicle and the speed of an adjacent vehicle on the target lane, and acquiring the distance difference between the current vehicle and the adjacent vehicle, a lane changing opportunity judgment step of comparing the obtained vehicle distance difference with a preset vehicle distance threshold value, and sending a lane changing signal when the vehicle distance difference is greater than the vehicle distance threshold value, and a lane changing step of controlling the current vehicle to change the lane to the target lane according to the lane changing signal.
本发明涉及自动驾驶控制技术领域,为了解决目前驾驶员在判断换道时未能及时发现目标车道内行驶来的车辆而出现交通事故的问题,提供了一种自动驾驶车辆的换道控制方法,包括以下步骤,信息采集步骤:采集当前车辆所在道路的路况信息和导航信息;换道判断步骤:对获取到的路况信息和导航信息进行分析并判断是否需要换道;车况采集步骤:当判定出需要换道时,获取当前车辆车速和目标车道上相邻车辆车速,还获取当前车辆与相邻车辆的车距差;换道时机判定步骤:将得到的车距差与预设的车距阈值进行比较,在比较出车距差大于车距阈值时,发送换道信号;换道步骤:根据换道信号控制当前车辆向目标车道的换道行驶。
Lane changing control method and device for automatic driving vehicle
自动驾驶车辆的换道控制方法和装置
2021-07-23
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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