The invention discloses an intelligent vehicle lane changing decision and trajectory planning method and system considering surrounding vehicles, and the method comprises the steps: considering the satisfaction degree of a current lane, the satisfaction degree of adjacent lanes, the feasibility of adjacent lane changing and the safety of a lane changing process, and constructing a decision utility function based on a multi-stage sequential decision tree; traffic information is acquired in real time, and through a decision utility function, a target vehicle is decided to keep a lane or execute lane change; when lane changing is executed, a total cost function is constructed, the lane changing duration and the lane changing longitudinal displacement are searched, and a local optimal lane changing track considering surrounding vehicles is obtained. The method can improve the accuracy of the lane changing decision of the intelligent automobile and the safety of the lane changing track, and reduces the influence of the lane changing track on the normal operation of surrounding vehicles.

    本发明公开了一种考虑周边车辆的智能汽车换道决策与轨迹规划方法、系统,考虑当前车道满意度、相邻车道满意度、相邻车道换道的可行性以及换道过程的安全性,基于多阶段序贯决策树构建决策效用函数;实时获取的交通信息,经过决策效用函数,决策出目标车辆保持车道或执行换道;在执行换道时,构建总成本函数,对换道持续时间和换道纵向位移进行搜索,得到考虑周边车辆的局部最优换道轨迹。本发明能够提高智能汽车换道决策的准确性、换道轨迹的安全性,并降低换道轨迹对周围车辆正常运行的影响。


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    Title :

    Intelligent automobile lane changing decision-making and trajectory planning method and system considering surrounding vehicles


    Additional title:

    一种考虑周边车辆的智能汽车换道决策与轨迹规划方法、系统


    Contributors:
    XIONG XIAOXIA (author) / HE YU (author) / CAI YINGFENG (author) / LIU QINGCHAO (author) / WANG HAI (author) / CHEN LONG (author)

    Publication date :

    2023-03-31


    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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