The invention discloses a network-connected automatic driving vehicle lane changing method in a mixed traffic environment and a related device, relates to the technical field of automatic driving, and simultaneously takes a current vehicle observation state at a current moment and a surrounding vehicle observation state as input, and uses a trained lane changing model to determine an action of a current vehicle at the current moment. The current vehicle is controlled to execute the action of the current vehicle at the current moment, the surrounding vehicle observation state comprises the relative distance, the speed, the acceleration and the binary identifier of each surrounding vehicle, by introducing the surrounding vehicle observation state, the relationship between the vehicles in the observation space can be considered during action decision making, and the dynamic change relationship between the vehicles is captured; therefore, the complex traffic dynamics can be processed more comprehensively, potential dangers can be captured, and the lane changing safety of the networked automatic driving vehicle can be improved.

    本申请公开了一种混合交通环境下网联自动驾驶车辆变道方法及相关装置,涉及自动驾驶技术领域,同时以当前时刻的当前车辆观测状态和周围车辆观测状态作为输入,利用训练好的变道模型确定当前车辆在当前时刻的动作,并控制当前车辆执行当前车辆在当前时刻的动作,周围车辆观测状态包括每一周围车辆的相对距离、速度、加速度和二进制标识,通过引入周围车辆观测状态,能够在动作决策时考虑观测空间内车辆间关系,捕捉车辆之间的动态变化关系,使得在处理复杂交通动态方面更加全面,以捕捉潜在的危险,提高网联自动驾驶车辆变道的安全性。


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    Title :

    Lane changing method and related device for networked automatic driving vehicle in mixed traffic environment


    Additional title:

    混合交通环境下网联自动驾驶车辆变道方法及相关装置


    Contributors:
    XU XING (author) / SHI TINGPENG (author) / ZHAO YUN (author)

    Publication date :

    2024-10-15


    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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