본 발명의 실시예는 무인자동차의 차선변경방법, 장치 및 저장매체를 제공한다. 여기서, 무인자동차의 차선변경방법은, 메인차량의 주행의도에 기반하여 차선변경을 수행하고자하는 후보차선을 결정하는 것; 각 상기 후보차선의 차선변경조건에 기반하여, 상기 후보차선에 대해선별을 수행하는 것; 선별된 상기 후보차선 중에서 메인차량이 차선변경을 수행할 목표차선을 선택하는 것; 메인차량이 현재차선으로부터 상기 목표차선으로 차선변경을 수행하는 것이 안전한지 여부를 판단하는 것; 및 상기 판단결과가 안전한 것인 경우, 차선변경을 수행하는 것을 포함한다. 본 발명의 실시예는 차선변경조건 등 정보에 기반하여 종합적 판단을 수행하여 안전하고 합리적인 차선변경 결정을 도출하고, 주행에 가장 적합한 차선을 선택하며, 또한 안전한 시각을 선택하여 차선변경을 수행할 수 있음으로써, 고장이 발생할 확률을 크게 감소시키고, 무인자동차가 안전하고 원활하게 차선변경을 수행하도록 확보한다.
A lane changing method, device for a driverless vehicle and a computer-readable storage medium are provided according to embodiments of the application. The lane changing method includes: determining candidate lanes, to which a lane changing is to be performed, based on a travelling intention of a main vehicle; screening the candidate lanes based on lane changing conditions of the candidate lanes; selecting, from the screened candidate lanes, a target lane, to which the lane changing of the main vehicle is to be performed; determining whether the lane changing of the main vehicle from a current lane to the target lane is safe; and performing the lane changing, if the lane changing is determined to be safe. According to the embodiments of the application, a safe and reasonable lane changing decision can be made based on comprehensive determination performed through information such as lane changing conditions to select a lane that is most suitable for driving, and to perform a lane changing at a safe time, thereby greatly reducing a probability of accidents and ensuring that the driverless vehicle safely and smoothly performs the lane changing.
LANE CHANGING METHOD DEVICE FOR DRIVERLESS VEHICLE AND COMPUTER-READABLE STORAGE MEDIUM
무인자동차의 차선변경 방법, 장치 및 저장매체
2021-11-16
Patent
Electronic Resource
Korean
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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