According to an embodiment of the present invention, provided are a lane changing method for a driverless vehicle, and an apparatus and a storage medium thereof. Here, the lane changing method for a driverless vehicle includes the following steps of: determining candidate lanes to which a lane change is to be made based on a driving intention of a main vehicle; sorting the candidate lanes based on a lane change condition of each of the candidate lanes; selecting a target lane, to which a lane change is to be made by the main vehicle, from among the sorted candidate lanes; determining whether the main vehicle making a lane change from a current lane to the target lane is safe; and making a lane change if the determination result is safe. According to an embodiment of the present invention, overall determination is performed based on information such as a lane change condition to derive a safe and rational lane change determination, the most suitable lane for driving is selected, and also, a safe timing is selected to make a lane change. Therefore, the probability of a malfunction can be significantly reduced, and a driverless vehicle can make a safe and smooth lane change.

    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.


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    Title :

    LANE CHANGING METHOD DEVICE FOR DRIVERLESS VEHICLE AND COMPUTER-READABLE STORAGE MEDIUM


    Additional title:

    무인자동차의 차선변경 방법, 장치 및 저장매체


    Contributors:
    LI HONGYE (author) / ZHANG KUAN (author) / TANG HUAIZHU (author)

    Publication date :

    2020-10-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    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 / 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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