The invention discloses a method for determining a limit lane changing track of an automatic driving vehicle at an entrance lane of an intersection. The specific method mainly comprises the following three steps of: 1, generating a lane changing track set based on a quintic polynomial; 2, optimizing a lane changing track set by considering vehicle dynamics constraints; and 3, traversing the position of the lane changing starting point, and determining a limit lane changing starting point and a corresponding limit lane changing track. According to the method, vehicle condition constraints and road condition constraints are considered, the method for determining the limit lane changing track of the automatic driving vehicle at the entrance lane of the intersection is provided, early warning of the limit lane changing track is provided for the automatic driving vehicle, and therefore the driving safety, the lane changing success rate and the passing efficiency are improved.

    本发明专利公开了一种交叉口进口道自动驾驶车辆极限换道轨迹的确定方法。具体方法主要包括三个步骤:一、生成基于五次多项式的换道轨迹集;二、考虑车辆动力学约束对换道轨迹集进行优化;三、遍历换道起点位置,确定极限换道起点及其对应的极限换道轨迹。本发明专利考虑车辆自身条件约束和道路条件约束,提出交叉口进口道自动驾驶车辆极限换道轨迹的确定方法,为自动驾驶车辆提供了极限换道轨迹的预警,从而提高驾驶安全性、换道成功率和通行效率。


    Access

    Download


    Export, share and cite



    Title :

    Method for determining limit lane changing track of automatic driving vehicle at entrance lane of intersection


    Additional title:

    一种交叉口进口道自动驾驶车辆极限换道轨迹的确定方法


    Contributors:
    ZONG FANG (author) / DONG QIANWEI (author) / TANG MING (author) / QIN YINGZHUO (author) / YUE SHENG (author) / LI YUXUAN (author) / SHI PEIXIN (author) / WU HUAN (author)

    Publication date :

    2023-01-13


    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




    Automatic driving intersection traffic control method for optimal entrance lane selection

    WU WEI / QIN SHAOMIN / LIU YANG | European Patent Office | 2021

    Free access

    Intelligent network connection vehicle lane changing control method for entrance lane of heterogeneous traffic flow intersection

    LYU YUEJING / WANG XINYUE / XUE YONGKANG et al. | European Patent Office | 2024

    Free access

    Lane changing track generation method and device for automatic driving vehicle

    XIANG NAN | European Patent Office | 2020

    Free access

    Dynamic control method for intersection entrance and exit lane direction under automatic driving

    LONG KEJUN / ZHANG ZHONGGEN / LU XUANTING et al. | European Patent Office | 2022

    Free access