The invention provides a method for determining a limit lane changing track of an automatic driving vehicle at an intersection entrance lane in an ice and snow environment, and belongs to the field of automatic driving vehicle track planning. According to the method for determining the limit lane changing track of the automatic driving automobile at the intersection entrance lane in the ice and snow environment, a lane changing track set of the automatic driving automobile at the intersection entrance lane is generated by adopting a cubic polynomial under a Frenet coordinate system, and the lane changing track set is optimized by considering constraints of automobile conditions and ice and snow pavement conditions; traversing the lane-changing starting point until only one track is left in the lane-changing track set, namely the limit lane-changing track of the autonomous vehicle at the entrance lane of the intersection in the ice and snow environment, and the corresponding lane-changing starting point is the limit lane-changing starting point. According to the invention, limit lane changing track early warning is provided for the self-driving automobile in the ice and snow environment, the automobile can be reminded to change lanes in time, the situation that traffic rules are violated due to line pressing lane changing and the like is avoided, and thus the driving safety, the lane changing success rate and the passing efficiency are improved.

    本发明提供了一种冰雪环境下交叉口进口道自动驾驶汽车极限换道轨迹的确定方法,属于自动驾驶汽车轨迹规划领域。本发明描述的一种冰雪环境下交叉口进口道自动驾驶汽车极限换道轨迹的确定方法,在Frenet坐标系下采用三次多项式生成自动驾驶汽车在交叉口进口道的换道轨迹集,并考虑汽车自身条件和冰雪路面条件的约束对换道轨迹集进行优化,遍历换道起点直至换道轨迹集中只剩下一条轨迹,即为冰雪环境下交叉口进口道自动驾驶汽车极限换道轨迹,对应的换道起点即为极限换道起点。本发明专利为冰雪环境下自动驾驶汽车提供了极限换道轨迹预警,有利于提醒汽车及时换道,避免出现压线换道等违反交通规则的情况,从而提高驾驶安全性、换道成功率和通行效率。


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    Title :

    Method for determining limit lane changing track of automatic driving automobile at entrance lane of intersection in ice and snow environment


    Additional title:

    一种冰雪环境下交叉口进口道自动驾驶汽车极限换道轨迹的确定方法


    Contributors:
    ZHANG HUIYONG (author) / ZONG FANG (author) / DONG QIANWEI (author) / QIN YINGZHUO (author) / YUE SHENG (author) / LI YUXUAN (author) / SHI PEIXIN (author) / WU HUAN (author) / WANG SIQI (author)

    Publication date :

    2022-12-09


    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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