The invention discloses an automatic driving vehicle lane change decision method based on multi-index evaluation. The method comprises a vehicle driving information acquisition unit, a lane change comprehensive evaluation index unit, a lane change mode selection unit and a lane change decision execution unit. The vehicle driving information acquisition unit is used for acquiring vehicle lane changing duration, longitudinal lateral speed and acceleration in the vehicle driving process and center-of-mass position coordinates of the vehicle under a global coordinate system, and calculating a position evaluation factor of the vehicle relative to a road boundary line; the lane changing comprehensive evaluation index unit is used for calculating a sideslip risk evaluation factor, a rollover risk evaluation factor, a lane changing trajectory tracking error evaluation factor, a lane changing efficiency evaluation factor and a lane changing comprehensive evaluation index; the lane changing mode selection unit comprises a first-stage lane changing mode, a second-stage lane changing mode, a third-stage lane changing mode, a waiting lane changing mode and a following driving mode; and the lane changing decision execution unit is used for calculating a steering wheel angle, an accelerator pedal stroke and a brake pedal stroke.
本发明公开了一种基于多指标评价的自动驾驶车辆换道决策方法,包括车辆行驶信息获取单元、换道综合评价指标单元、换道模式选择单元、换道决策执行单元。车辆行驶信息获取单元用于获取车辆换道时长,车辆行驶过程中的纵向侧向的速度和加速度,车辆在在全局坐标系下的质心位置坐标,计算车辆相对道路边界线位置评价因子;换道综合评价指标单元用于计算侧滑危险性评价因子,侧翻危险性评价因子,换道轨迹跟踪误差评价因子,换道效率评价因子,换道综合评价指标;换道模式选择单元包括一级换道模式、二级换道模式、三级换道模式、等待换道模式、跟驰行驶模式;换道决策执行单元用于计算方向盘转角、加速踏板动行程、制动踏板动行程。
Automatic driving vehicle lane changing decision-making method based on multi-index evaluation
一种基于多指标评价的自动驾驶车辆换道决策方法
2024-08-16
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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