The invention relates to a lane changing and lane keeping integrated decision control method for an intelligent driving vehicle. The method comprises the following steps: step 1, identifying lane line information and other traffic participants in a real-time driving environment of the intelligent driving vehicle through a visual sensor; 2, deciding and judging a safe and feasible lane driving behavior instruction of the intelligent driving vehicle; step 3, determining a target driving lane for lane driving control according to the lane driving behavior instruction; 4, deciding transverse and longitudinal motion control instructions for driving the intelligent driving vehicle to the target lane; and step 5, the intelligent driving vehicle executes the issued longitudinal and transverse motion control instruction of lane driving. Compared with the prior art, continuous decision and control of different lane driving behaviors such as lane keeping and lane changing can be realized, the function integration level of the system is improved, the complexity of the system is reduced, and the system is easier to realize.

    本发明涉及一种智能驾驶车辆换道及车道保持一体化决策控制方法,该方法包括:步骤1、通过视觉传感器识别智能驾驶车辆实时行驶环境中的车道线信息及其他交通参与者;步骤2、决策判断出智能驾驶车辆安全可行的车道行驶行为指令;步骤3、根据车道行驶行为指令,确定车道行驶控制的目标行驶车道;步骤4、决策使智能驾驶车辆行驶到目标车道的横、纵向运动控制指令;步骤5、智能驾驶车辆执行下发的车道行驶的纵、横向运动控制指令。与现有技术相比,本发明可实现车道保持及换道等不同车道行驶行为的连续决策与控制,提高了系统功能集成度,降低了系统复杂度,更易于实现。


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    Title :

    Intelligent driving vehicle lane changing and lane keeping integrated decision control method


    Additional title:

    一种智能驾驶车辆换道及车道保持一体化决策控制方法


    Contributors:
    ZHAO ZHIGUO (author) / LI WENCHANG (author) / LIANG KAICHONG (author) / DENG HAONAN (author)

    Publication date :

    2023-12-15


    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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