The invention relates to a lane changing method and system for an unmanned vehicle, and the method is characterized in that the method comprises the steps: carrying out the lane changing feasibility judgment of a target vehicle according to the pre-divided lane changing process state of a vehicle, and entering a decision region if the target vehicle can change a lane; the safety of the target vehicle in the decision area is judged, if the target vehicle is safe, a lane changing line of the target vehicle is determined, the target vehicle changes a lane according to the determined lane changing line, and the lane changing completion time of the target vehicle is predicted; if not, the target vehicle needs to return to the original lane; whether the target vehicle collides with the front and rear vehicles of the lane after lane changing is judged, the safety area of the target vehicle is determined, the speed of the target vehicle is determined, and the method and the device can be widely applied to the field of unmanned driving.

    本发明涉及一种无人驾驶车辆的变道方法及系统,其特征在于,包括:根据预先划分的车辆的变道过程状态,对目标车辆进行变道可行性判断,若目标车辆可进行变道,则进入决策区域;判断目标车辆在决策区域内的安全性,若安全,则确定目标车辆的变道路线,目标车辆根据确定的变道路线进行变道,并预测目标车辆变道完成的时间;若不安全,则目标车辆需返回原始车道;判断目标车辆变道后是否会与变道后车道的前后车辆发生碰撞,确定目标车辆的安全区域,并确定目标车辆的车速,本发明可以广泛应用于无人驾驶领域中。


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    Title :

    Lane changing method and system for unmanned vehicle


    Additional title:

    一种无人驾驶车辆的变道方法及系统


    Contributors:
    CHEN ZHENG (author)

    Publication date :

    2023-02-03


    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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