The invention provides a lateral lane changing decision-making method considering multi-vehicle interaction, an intelligent vehicle and a readable storage medium, and the lateral lane changing decision-making method comprises the steps that an environment sensing module senses vehicle driving environment information and vehicle running state information, and transmits the information to a lane changing trigger; the lane changing trigger receives the information, performs data analysis, decides whether the vehicle changes a lane or not, and transmits a lane changing decision to the decision module if the vehicle changes the lane; the decision module receives the lane changing decision and performs lane changing decision processing, and the track generation module generates a track according to the lane changing decision processing and transmits the track to the motion control module; and the motion control module receives the track and executes lane changing operation according to the track to realize lane changing. The technical problem that the vehicle lane changing efficiency is low in the congested road section is solved, and the technical effect of improving the vehicle lane changing efficiency in the congested road section is achieved.

    本发明提供一种考虑多车交互的横向变道决策方法、一种智能车辆和一种可读存储介质,横向变道决策方法包括:环境感知模块感知车辆行驶环境信息和车辆运行状态信息,并将信息传送至变道触发器;变道触发器接收信息,进行数据分析,决策自车是否进行变道,如果进行变道,则将变道决策传送至决策模块;决策模块接收变道决策,并进行变道决策处理,轨迹生成模块根据变道决策处理生成轨迹,并将轨迹传送至运动控制模块;运动控制模块接收轨迹,根据轨迹执行变道操作,实现变道。本发明解决在拥堵路段中车辆变道效率低的技术问题,实现提高在拥堵路段时车辆变道效率的技术效果。


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    Title :

    Transverse lane changing method considering multi-vehicle interaction, intelligent vehicle and storage medium


    Additional title:

    一种考虑多车交互的横向变道方法、智能车辆和存储介质


    Contributors:
    ZHENG XINYU (author) / ZHANG HANGJIA (author) / LOU JUNJIE (author) / ZHENG XIYU (author) / YU YONG (author) / PAN SHAOFEI (author) / XING WENZHI (author)

    Publication date :

    2023-05-09


    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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