The invention discloses an automatic driving intelligent acceleration and deceleration lane changing decision-making method. The method comprises three processes of lane changing intention generation, acceleration and deceleration lane changing strategy, and extreme scene identification and processing. The method is different from a traditional single method and belongs to a mixed method, the advantages of simplicity and good interpretability of a rule-based method are integrated, and meanwhile, an efficient optimization-based OCP acceleration and deceleration model is introduced, so that a lane changing strategy is more accurate and available; in the acceleration and deceleration lane changing strategy process, a two-layer structure of coarse screening and fine screening is arranged, the advantages that the calculation power consumption is small, and an acceleration and deceleration model finely meets the driving requirement are considered, meanwhile, processing of an extreme scene is further involved, and the safety of the whole lane changing process is improved.
本发明公开一种自动驾驶智能加减速换道决策方法,包括换道意图生成、加减速换道策略、极端场景识别与处理三个过程;其区别于传统的单一方法,属于一种混合方法,综合了基于规则方法的简单、可解释性好的优点,同时引入高效的基于优化的OCP加减速模型,使得换道策略更加精确可用;在加减速换道策略的过程中,设置了粗筛和精筛的两层结构,兼顾算力消耗小,及加减速模型精细贴合驾驶需求的优点,同时,还涉及了极端场景的处理,提升整体换道过程的安全性。
Automatic driving intelligent acceleration and deceleration lane changing decision-making method
一种自动驾驶智能加减速换道决策方法
2025-03-25
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 |
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