The invention belongs to the technical field of automobiles, and particularly relates to an overtaking decision-making method considering an opposite coming automobile. Comprising the following steps of 1, judging whether an overtaking intention is generated or not; step 2, if the overtaking intention is generated, judging whether a decision of turning to overtaking from driving along the lane can be executed or not; step 3, if the overtaking decision is executed, judging whether the vehicle interacts with the vehicle coming in the opposite direction or not so as to judge whether the vehicle can take overtaking on the lane or not; 4, taking a judgment result in the step 3 as a state transition condition in a driving behavior decision; and 5, generating the path and speed of the vehicle according to the state of the vehicle in the step 4. The overtaking safety, the passing efficiency and the driving aggressive degree are considered, and the passing efficiency of the intelligent automobile is improved.
本发明属于汽车技术领域,具体的说是一种考虑对向来车的超车决策方法。包括以下步骤:步骤一、判断是否产生超车意图;步骤二、若产生超车意图,判断是否可以执行由跟随本车道行驶转到超车决策;步骤三、若执行超车决策通过判断与对向来车是否有相互作用从而判断是否可以借道超车;步骤四、将步骤三的判断结果作为驾驶行为决策中的状态转移条件;步骤五、根据步骤四中车辆所处的状态,生成本车的路径和速度。本发明考虑了超车安全,通行效率和驾驶的激进程度,提高了智能汽车的通行效率。
Overtaking decision-making method considering vehicle coming in opposite direction
一种考虑对向来车的超车决策方法
2023-03-21
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 |
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