The present invention relates to a method for controlling an autonomous vehicle to change lanes, comprising: determining whether a lane adjacent to a normal lane is a dedicated lane of the autonomous vehicle (S1) while a host vehicle having an autonomous driving function travels on the normal lane; if yes, longitudinal position information of surrounding vehicles on the special lane is detected, and whether the vehicle is allowed to enter the special lane or not is judged (S2); if allowed, detecting and comparing the driving speed of the first preceding vehicle on the exclusive lane and the driving speed of the second preceding vehicle on the normal lane (S3); and if the first driving speed is greater than the second driving speed, introducing the longitudinal position information and the first driving speed as control factors, and controlling the vehicle to change the lane and drive into the special lane (S4). According to the invention, not only can the driving experience and riding comfort of the automatic driving vehicle be improved, but also the special lane of the automatic driving vehicle can be fully utilized, and the overall traffic efficiency of the traffic lane is improved.

    本发明涉及一种用于控制自动驾驶车辆进行换道的方法,其包括:在具有自动驾驶功能的本车辆在普通车道上的行驶过程中,判断普通车道的相邻车道是否是自动驾驶车辆的专用车道(S1);如果是,探测专用车道上的周围车辆的纵向位置信息并判断是否允许本车辆驶入专用车道(S2);如果允许,检测并比较专用车道上的第一前方车辆和普通车道上的第二前方车辆的行驶速度(S3);如果第一行驶速度大于第二行驶速度,引入纵向位置信息和第一行驶速度作为控制因素,控制本车辆换道驶入专用车道(S4)。根据本发明,不仅可以提高自动驾驶车辆的驾驶体验感和乘坐舒适性,而且可以充分地利用自动驾驶车辆的专用车道,提高行车道的整体交通效率。


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    Title :

    METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS VEHICLE FOR LANE CHANGE


    Additional title:

    用于控制自动驾驶车辆进行换道的方法和系统


    Contributors:
    LI HEAN (author)

    Publication date :

    2023-09-19


    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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