The invention discloses an automatic driving lane changing method and a vehicle for a conical barrel road closure scene, and a system of the method comprises a data acquisition module, a conical barrel risk assessment module, a lane changing strategy decision module and a simulation test and verification module. Risk assessment of each lane is decided through the cone bucket risk assessment module, risk grade division of the lanes is carried out, decision-making actions are carried out on an automatic driving vehicle through the lane changing strategy decision-making module based on relative risks between the lanes, and decision-making of the automatic driving vehicle is verified through the simulation test and verification module in combination with actual road section test. According to the method, parameters in the decision making process of the automatic driving vehicle are iteratively optimized, driving of the vehicle is decided in a human-like mode and in combination with relative risks between lanes in the driving process of the vehicle, the situation that the vehicle draws a dragon is avoided, the driving safety of the vehicle is improved, the situation that the vehicle is braked in front of a conical barrel is avoided, and the running efficiency of the vehicle is improved.

    本发明公开一种用于锥桶封路场景的自动驾驶变道方法及车辆,该方法的系统包括数据获取模块、锥桶风险评估模块、变道策略决策模块、仿真测试与验证模块,根据数据获取模块获取的信息,通过锥桶风险评估模块进行决策各车道的风险评估,并进行车道的风险等级划分,基于车道间的相对风险,通过变道策略决策模块对自动驾驶车辆进行决策动作,通过仿真测试与验证模块,结合实际路段测试,进行验证自动驾驶车辆的决策,并进行迭代优化自动驾驶车辆决策过程中的参数,以类人的方式并结合自车行驶过程中各车道间的相对风险,进行决策自车的行驶,避免自车出现画龙,并提高车辆的行车安全性,避免自车刹停在锥桶前,提高车辆的运行效率。


    Access

    Download


    Export, share and cite



    Title :

    Automatic driving lane changing method for conical barrel road closure scene and vehicle


    Additional title:

    一种用于锥桶封路场景的自动驾驶变道方法及车辆


    Contributors:
    MIAO YIWEN (author) / ZHANG XIANHONG (author) / KOYO (author)

    Publication date :

    2024-03-15


    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



    Automatic accurate lane changing system and lane changing method for double-vehicle scene

    FU JIANONG / YUAN CHENG / ZHANG CHANGDE et al. | European Patent Office | 2023

    Free access

    Multi-vehicle interactive lane changing scene library automatic construction method for automatic driving vehicles

    GUO YINJIA / CHEN YANYAN / GU XIN et al. | European Patent Office | 2024

    Free access

    Planning method and system for automatic driving vehicle to bypass conical barrel and vehicle

    QIAO RUIZHI / CAI ZHANGYUE | European Patent Office | 2021

    Free access

    Intelligent lane changing method for automatic driving scene, related device, medium and program

    WANG JIE / CHEN XI / LIU YUEQUAN | European Patent Office | 2023

    Free access

    Dangerous lane changing scene generalization generation method and system for automatic driving test

    ZHAO XIANGMU / JING SHOUCAI / ZHAO YUYU et al. | European Patent Office | 2023

    Free access