To provide an effective method for changing a traffic lane in a short time, without causing an overshoot when traveling in an automatic driving mode.SOLUTION: In a planning stage of automatic driving of an automatic driving vehicle (ADV), the fact of requiring to change a traffic lane to a target traffic lane from an original traffic lane in the ADV is decided. A first locus is generated up to the target traffic lane like a center line of the target traffic lane from a present position of the ADV in the original traffic lane. A traffic lane displacement correction is calculated on the basis of at least the original traffic lane and/or traffic lane arrangement of the target traffic lane and a present state of the ADV. A second locus is generated by at least correcting a starting point of the first locus based on the traffic lane displacement correction. The starting point of the first locus is displaced in the lateral direction to the advance direction of the original traffic lane on the basis of the traffic lane displacement correction.SELECTED DRAWING: Figure 6

    【課題】自動運転モードで走行される場合に、オーバーシュートが発生せずに短時間内に車線を変更する効果的な方法を提供する。【解決手段】自動運転車(ADV)の自動運転の計画段階において、ADVに車線を元車線から目標車線へ変更させる必要があると確定する。元車線におけるADVの現在位置から目標車線の中心線のような目標車線まで第一軌跡を生成する。そして、少なくとも元車線及び/又は目標車線の車線配置及びADVの現在状態に基づいて車線変位補正を算出する。車線変位補正に基づいて第一軌跡の起点を少なくとも補正して第二軌跡を生成する。また、車線変位補正に基づいて、第一軌跡の起点を元車線の進行方向に対して横方向に変位させる。【選択図】図6


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    Title :

    METHOD FOR FIXING TRAFFIC LANE CHANGING LOCUS OF AUTOMATIC DRIVING VEHICLE


    Additional title:

    自動運転車の車線変更軌跡を確定するための方法


    Contributors:
    ZHU FAN (author) / KONG QI (author)

    Publication date :

    2019-11-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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