The invention discloses a lane changing decision-making method for an automatic driving vehicle, and the method comprises the steps: calculating the lane changing time and collision time of a current moment, a target vehicle and other vehicles, finding the shortest collision time and the target lane changing time when the automatic driving vehicle serves as the target vehicle, and judging whether the lane changing of the target vehicle is safe or not; calculating a lane changing state value and a car following state value through safety rewards, safety time rewards, collision avoidance time rewards and lane changing time rewards, judging whether the lane changing state value is greater than the car following state value or not, determining lane changing or car following based on a judgment result, and calculating a lane changing acceleration lower limit of the target vehicle at the current moment when lane changing is determined; controlling the target vehicle to perform lane changing operation on the target lane at a value not lower than the acceleration lower limit; the method has the advantages of high safety, high decision-making efficiency and strong environment adaptability.
本发明公开了一种自动驾驶车辆换道决策方法,自动驾驶车辆作为目标车辆每发出依次换道请求,就计算当前时刻,目标车辆与其他车辆的可换道时间、碰撞时间,寻找到最短碰撞时间和目标可换道时间,进而判断目标车辆换道是否安全,并通过安全性奖励、安全时间奖励、避碰时间奖励、换道时间奖励计算换道状态值和跟驰状态值,判断换道状态值是否大于跟驰状态值,基于判断结果确定换道还是跟驰,并在确定换道时计算当前时刻目标车辆的换道加速度下限,控制目标车辆以不低于加速度下限的值向目标车道进行换道操作;优点是安全性高、决策效率高,环境适应能力强。
Lane changing decision-making method for autonomous vehicle
一种自动驾驶车辆换道决策方法
2024-05-28
Patent
Electronic Resource
Chinese
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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