The invention discloses an automatic highway lane changing method based on a drivable area. The method comprises the steps that a driver activates an automatic lane changing function through a bus signal of a steering lamp switch; after the automatic lane changing function is activated, a data fusion module receives information of lanes, road surfaces and surrounding traffic participants provided by a vehicle sensing system through a CAN bus, and drivable area information is obtained through data fusion of a coordinate system and Kalman filtering; a decision control module calculates the minimum collision time according to the information given by the data fusion module; according to drivable area information input provided after data fusion of a vehicle sensing system, parameters of adjacent lanes of an off-ramp are obtained; and the time for driving out of a ramp is obtained according to the information input of the drivable area. Aiming at the defects in the prior art, a set of automatic lane changing strategy is established, so that the function that the vehicle automatically changes the lane and finally enters the off-ramp to drive away from the highway is also completed.

    一种基于可行驶区域的高速公路自动变道方法,包括:驾驶员通过转向灯开关的总线信号激活自动变道功能;自动变道功能激活后,数据融合模块会通过CAN总线收取来自车辆感知系统提供的车道,路面及周边交通参与物的信息,通过坐标系的数据融合并进行卡尔曼滤波后从而得出的可行驶区域信息;决策控制模块根据数据融合模块给出的信息计算出最小碰撞时间;再根据车辆感知系统数据融合之后提供的可行驶区域信息输入,获取下匝道相邻车道的参数;再根据可行驶区域信息输入得到驶出匝道口的时间。本发明针对现有技术的不足,通过建立一套自动变道的策略,从而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 :

    Automatic highway 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:
    YAN WEI (author) / HU YIBO (author)

    Publication date :

    2021-09-07


    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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