According to the auxiliary driving automatic lane changing method and system, when it is detected that the vehicle meets the preset safe lane changing condition, the automatic lane changing function of the vehicle is activated, the lane changing track is calculated through the cubic spline interpolation algorithm, and the lane changing action is executed, so that the safety and comfort of auxiliary driving lane changing are improved. According to a traditional lane changing track path planning mode, a lane changing track is generally calculated through a polynomial fitting method, and a cubic polynomial connection method can generate large radians at some line segments connected through straight lines. The curve fitted by adopting the cubic spline interpolation method in the embodiment of the invention better conforms to the moving posture of the vehicle and is smoother. Sensors such as an angle radar and a camera are used for detecting front and back vehicles so as to judge whether the vehicles meet safe lane changing conditions or not. Compared with a common laser radar and the like in the prior art, the sensor adopted by the invention is lower in price, and low cost pursued by mass production of vehicle models is met.

    本发明提供了一种辅助驾驶自动变道方法和系统,在检测到车辆满足预设的安全可变道条件时,激活车辆的自动变道功能,利用三次样条插值算法计算变道轨迹,执行变道动作,以提高辅助驾驶变道的安全性和舒适性。传统的变道轨迹路径规划方式一般是用多项式拟合的方法计算变道轨迹,三次多项式的连接方法会在一些直线连接的线段处,产生较大的弧度。而本发明实施例采用三次样条插值的方法拟合出来的曲线更加符合车辆运动姿态,并且更平滑。本发明使用角雷达、摄像机等传感器检测前后车辆,以判断车辆是否符合安全可变道条件。相对于现有技术常用的激光雷达等,本发明采用的传感器价格更低,符合量产车型所追求的低成本性。


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    Title :

    Auxiliary driving automatic lane changing method and system


    Additional title:

    一种辅助驾驶自动变道方法和系统


    Contributors:
    ZHU DUNYAO (author) / ZHANG WEI (author) / CAI YOUBO (author) / TANG GE (author)

    Publication date :

    2022-04-12


    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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