The invention discloses an intelligent vehicle lane changing decision-making system and method based on a BEV visual angle and digital twinning. The system comprises an intelligent vehicle end and an edge cloud end. The intelligent vehicle end comprises an intelligent vehicle sensing module and an intelligent vehicle motion control module; the edge cloud comprises a BEV module, a lane changing decision module and a verification module; the BEV visual angle in the driving process of the intelligent vehicle is obtained through the BEV sensing technology, under the visual angle, the position of the intelligent vehicle, the number of surrounding vehicles and the relative distance factor are comprehensively considered, the most appropriate lane changing direction of the intelligent vehicle is obtained, and a lane changing track set needed by the intelligent vehicle for driving in the lane changing direction is planned through a lane changing track planning algorithm; and parallel testing is carried out on the lane changing track set through a digital twinning technology, and an optimal lane changing decision scheme meeting the lane changing driving safety of the intelligent vehicle is obtained.

    本发明公开了一种基于BEV视角和数字孪生的智能车换道决策系统及方法,系统包括:智能车端和边缘云端;所述智能车端包括:智能车感知模块和智能车运动控制模块;所述边缘云端包括:BEV模块、换道决策模块和验证模块;本发明通过BEV感知技术获得智能车行驶过程中的BEV视角,在该视角下,综合考虑智能车位置、周围车辆数量以及相对距离因素,获得最合适的智能车换道方向,通过换道轨迹规划算法规划出智能车按换道方向行驶所需的换道轨迹集,并通过数字孪生技术对换道轨迹集进行并行测试,获得满足智能车换道行驶安全性的最优换道决策方案。


    Access

    Download


    Export, share and cite



    Title :

    Intelligent vehicle lane changing decision-making system and method based on BEV visual angle and digital twinning


    Additional title:

    一种基于BEV视角和数字孪生的智能车换道决策系统及方法


    Contributors:
    LYU YUANFEI (author) / WANG CHUNYAN (author) / ZHOU XIAOCHUAN (author) / ZHAO WANZHONG (author) / ZHONG YIXIN (author) / QU MENGYUE (author)

    Publication date :

    2023-08-29


    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



    Vehicle lane changing decision-making method

    HOU DANYI / LIU QI / LI JIE et al. | European Patent Office | 2023

    Free access

    Intelligent vehicle lane changing decision-making method based on probability output model

    WANG HAITAO / ZHOU XIAOCHUAN / ZHAO WANZHONG | European Patent Office | 2021

    Free access

    Road intelligent guardrail decision-making method based on digital twinning

    LIU TENG / WU HAO / LU YUNLONG et al. | European Patent Office | 2024

    Free access

    Intelligent vehicle lane changing decision-making method and system for LSTM trajectory prediction

    YANG ZHENGCAI / SUN TIANJUN / GAO ZHENHAI et al. | European Patent Office | 2024

    Free access

    Lane changing decision-making method for autonomous vehicle

    YUE WEIQI / ZHENG PENGJUN / HOU JIAWEI et al. | European Patent Office | 2024

    Free access