The invention belongs to the field of automatic driving or auxiliary driving of intelligent networked automobiles, and discloses an intelligent networked automobile lane-changing decision-making and trajectory planning method, which comprises the following steps of: sensing a road traffic environment through sensors such as a laser radar, a millimeter wave radar and a vehicle-mounted camera carried by a lane-changing intelligent networked automobile SC; the position and speed information of a front vehicle FC of a current lane, a front vehicle PC of a target lane and a rear vehicle LC is considered, an optimal strategy is solved through a dynamic game, and the optimal lane changing track of the vehicle is planned based on different strategies and the comfort and lane changing efficiency of a driver. The safety and efficiency of lane changing can be effectively improved.
本发明属于智能网联汽车自动驾驶或者辅助驾驶领域,公开了一种智能网联汽车换道决策及轨迹规划方法,通过换道智能网联汽车SC搭载的激光雷达、毫米波雷达、车载摄像头等传感器对道路交通环境进行感知,考虑当前车道前车FC、目标车道前车PC和后车LC的位置及速度信息,通过动态博弈求解最优策略,并基于不同策略与驾驶人的舒适性及换道效率规划车辆的最优换道轨迹。本发明可有效提高换道的安全性与效率。
Lane-changing decision-making and trajectory planning method for intelligent networked automobile
一种智能网联汽车换道决策及轨迹规划方法
2024-11-12
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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