The invention discloses a vehicle lane changing auxiliary method and system based on a lane reference line, and the method comprises the steps: carrying out the calculation of the lane changing intention of a current lane in combination with a vehicle surrounding sensing result, carrying out the calculation of the driving cost of a current lane and an adjacent lane, and selecting the lane with the minimum cost according to a calculation result for driving. And performing lane change rationality judgment on the lane with the lowest cost, if the lane is reasonable, changing the lane, and if the lane with the lowest cost is the lane, keeping straight movement. When the lane changing intention is judged, on the basis of considering the speed and the acceleration, whether the distance between the automatic driving vehicle and the front obstacle meets the minimum safe distance or not, the type of the front obstacle of the current lane, the obstacle running state and other factors are combined, and the vehicle is prevented from colliding with the obstacle during lane changing. Filtering processing is added, the situation that the acceleration and speed of the obstacle vehicle possibly fluctuate is considered, the distance between the automatic driving vehicle and the obstacle is prevented from oscillating back and forth near the safe distance, it is guaranteed that the lane changing result is stable, and the system robustness is good.
本发明公开了一种基于车道参考线的车辆变道辅助方法及系统,包括结合车辆周围感知结果,进行当前车道换道意图计算,对本车道以及相邻车道进行行驶代价计算,根据计算结果选择代价最小的车道行驶。对代价最低的车道进行变道合理性判断,合理则变道,如果代价最低车道为本车道,则保持直行。判断换道意图时,在考虑速度和加速度的基础上,结合了自动驾驶车辆距离前方障碍物的距离是否满足最小安全距离、当前车道前方障碍物类型和障碍物运行状态等因素,避免车辆换道与障碍物发生碰撞。增加滤波处理,考虑障碍物车辆加速度以及速度可能存在波动情况,防止自动驾驶车辆与障碍物的距离在安全距离附近来回振荡,保证变道结果稳定,系统鲁棒性好。
Vehicle lane changing auxiliary method and system based on lane reference line
一种基于车道参考线的车辆变道辅助方法及系统
2023-01-06
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 |
Lane changing auxiliary method for vehicle and corresponding lane changing auxiliary system
European Patent Office | 2022
|European Patent Office | 2023
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