The invention discloses a queue lane changing method for an intelligent heavy truck fleet. The method comprises the following steps: S1, generating a fleet lane changing intention; the condition for generating the lane changing intention of the motorcade is based on judgment of the head vehicle condition; s2, lane changing safety judgment; all vehicles judge the lane changing safety of themselves, judgment is carried out according to calculation of collision time of obstacles on a target lane, and all team members send safety judgment of themselves to the team management module and wait for the team management module to issue an instruction; s3, vehicle team lane changing unit judgment, wherein a vehicle team is divided into two vehicle teams at most in the lane changing process; s4, executing a lane changing result; and when the single motorcade completes lane changing to the target lane, the motorcade lane changing is completed. The method can be used for queue lane changing of the infinite multi-vehicle formation, and when only the head vehicle of the motorcade meets the lane changing condition, after the motorcade is split into two motorcades, the rear motorcade can be continuously split. When only the head vehicle meets the lane changing condition, the method can also ensure that all the vehicle team members complete lane changing in sequence.
一种智能重卡车队的队列换道方法,步骤S1.车队换道意图生成;车队换道意图生成的条件基于对于头车情况的判断;步骤S2.换道安全性判断;所有车辆分别对于自身的换道安全性做出判断,根据对目标车道障碍物碰撞时间的计算进行判断,所有车队成员将自身的安全性判断发送给车队管理模块,等待车队管理模块下发指令;步骤S3.车队换道分队判断,车队在换道的过程中最多分成两个车队;步骤S4.换道结果执行;当单车队完成换道至目标车道即算车队换道完成。本发明可用于无限多车辆编队的队列换道,当仅有车队头部车辆满足换道条件,车队拆分为两车队后,后车队可以继续不断拆分。当仅有头车满足换道条件时,该方法也能够保证各车队成员依次完成换道。
Queue lane changing method for intelligent heavy truck fleet
一种智能重卡车队的队列换道方法
2023-04-14
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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