Path planning system and method for single-lane automatic driving overtaking vehicles in adjacent lanes

Abstract

The invention discloses a path planning system and method for single-lane autonomous driving to overtake vehicles in adjacent lanes, including a camera, a millimeter wave radar group, a central decision-making module and an execution mechanism; the millimeter wave radar group is used to detect the vehicle in the adjacent lane. Whether there is a vehicle; the camera is used to obtain the lane line information of the vehicle, and when a vehicle is detected in the adjacent lane in front of the vehicle, it is integrated with the information detected by the millimeter wave radar group to identify the adjacent lane in front of the vehicle The vehicle's position information, the camera is connected to the millimeter-wave radar group; the central decision-making module plans the driving trajectory based on the vehicle's lane line information and the position information of the adjacent lane vehicles in front of the vehicle, and the central decision-making module is connected to the camera and millimeter-wave radar group respectively ; The actuator performs automatic driving according to the driving trajectory given by the central decision-making module, and the actuator is connected to the central decision-making module. The invention ensures driving safety and improves comfort.

Description

technical field [0001] The invention belongs to automatic driving technology, and in particular relates to a path planning system and method for single-lane automatic driving to overtake vehicles in adjacent lanes. Background technique [0002] The principle of automatic driving on a single lane of expressway is to rely on radar and cameras to identify information such as lane lines on both sides and target vehicles in front of the lane, and transmit the identified information to the central decision-making module. The driving trajectory is planned in the middle of the two lanes, and the vehicle realizes single-lane automatic driving according to this driving trajectory. That is, the principle of path planning at this time is only based on the information of the two lanes of the current lane, and does not consider the adjacent lanes (the left and right lanes next to the current lane may only have the left lane, or only the right lane, or the left and right lanes) lane, here...

AI Technical Summary

Problems solved by technology

[0003] Since the driving trajectory is only planned according to the middle line of the lane lines on both sides of the lane, when the vehicle in the adjacent lane is too close to the lane or occupies the lane line of the lane (at this time, it cannot be recognized by the sensor as the lane If the path planning is still based on the principle of the middle line of the lane lines on both sides, in the process of overtaking the vehicle in the adjacent lane, the driver will feel dangerous because the distance to the vehicle in the adjacent lane is too close. Automatic driving The comfort of the function will be reduced, and even cause traffic accidents due to the inability to leave enough reaction time for the driver.

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