The invention provides a method and device for realizing automatic lane change based on a lane centering keeping function. A method according to one aspect of the disclosure includes: determining a center line of a target lane as a lane changing target according to a current lane where a vehicle is located; whether the transverse distance between the vehicle and the center line of the target lane is smaller than a distance threshold value or not is judged; in response to determining that the lateral distance from the vehicle to the center line of the target lane is not less than the distance threshold, calculating a temporary target trajectory according to the center line of the target lane and the longitudinal speed of the vehicle, the temporary target trajectory being laterally deviated from the vehicle by a specified step length; and providing the temporary target trajectory as an input to a lane centering keeping function of the vehicle, in which the lane centering keeping function controls movement of the vehicle with the temporary target trajectory as a target center line.
本公开提供了用于基于车道居中保持功能来实现自动变道的方法和装置。根据本公开的一个方面的一种方法包括:根据车辆所处的当前车道确定作为变道目标的目标车道的中心线;判断所述车辆到所述目标车道的中心线的横向距离是否小于距离阈值;响应于判定所述车辆到所述目标车道的中心线的横向距离并未小于所述距离阈值,根据所述目标车道的中心线和所述车辆的纵向车速来计算临时目标轨迹线,其中,所述临时目标轨迹线相对于所述车辆横向偏离了指定的步长;以及将所述临时目标轨迹线作为输入提供给所述车辆的车道居中保持功能,其中,所述车道居中保持功能以所述临时目标轨迹线作为目标中心线来控制所述车辆运动。
METHOD AND APPARATUS FOR AUTOMATED LANE CHANGE BASED ON LANE CENTERING HOLDING
用于基于车道居中保持功能来实现自动变道的方法和装置
2025-02-25
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 |
Lane centering system and lane centering method for autonomous vehicle
European Patent Office | 2022
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