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Intelligent traffic system-based intelligent vehicle lane changing decision-making method

An intelligent transportation system and intelligent vehicle technology, which is applied in the field of intelligent vehicle decision-making to change lanes, and can solve the problems of inability to break through sensors, the effective range and accuracy of restricted sensors, etc.

Active Publication Date: 2017-07-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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AI Technical Summary

Problems solved by technology

However, in a macro sense, as an "independent intelligent unit" of modern intelligent transportation systems, self-driving vehicles can sense the surrounding environment, but limited by the effective range and accuracy of the sensors, they can only monitor the environmental conditions within a certain range around the vehicle. Perception, unable to break through the bottleneck of sensor technology and interact with the entire traffic system

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Embodiment Construction

[0072] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0073] The overall process of the intelligent vehicle decision-making and lane-changing method based on the intelligent transportation system of the present invention is as follows: figure 1 As shown, the intelligent transportation system can receive and publish various information such as roads, vehicles, and pedestrians in the entire traffic environment through the network communication technology, and the vehicles equipped with the network communication equipment can receive the above-mentioned information from the intelligent transportation system information. As described in the present invention, road management personnel release road event inform...

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Abstract

The invention relates to an intelligent traffic system-based intelligent vehicle lane changing decision-making method. The method comprises the following steps of firstly, parsing the received broadcast data of an intelligent traffic system by an intelligent driving system, and extracting the event information; secondly, completing the coordinate conversion of a road event by the intelligent driving system, and obtaining an event influence factor according to the event information; finally, according to the event overall influence factor and the judgment result that the current road environment allows the lane changing decision of a vehicle, allowing the lane changing path re-planning, simultaneously calculating the desired behavior of the vehicle and changing the lane of the vehicle. According to the technical scheme of the invention, according to the attribute of a road event ahead of the vehicle and the environmental information around the vehicle, the influence factor of the current vehicle driving road is calculated. Therefore, the necessity, the security and the reliability of the lane changing decision of an automatic driving vehicle are evaluated. Meanwhile, preparations are made in advance before the lane changing of the vehicle.

Description

technical field [0001] The invention relates to the field of automatic driving vehicle control, in particular to an intelligent vehicle decision-making lane-changing method based on an intelligent transportation system. Background technique [0002] The decision-making and lane-changing technology of autonomous driving vehicles can be roughly divided into three stages according to the degree of intelligence of its development: the stage of manual decision-making and control of lane-changing, the stage of manual decision-making and independent control of lane-changing, and the stage of independent decision-making and control of lane-changing. In the first stage, the driver mainly relies on the driver to make decision-making and judgment on lane-changing vehicles and the timing of lane-changing, and manually controls the steering wheel, turn signal and other actuators to control the lane-changing behavior of vehicles. The second stage relies on the driver to make the decision ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/09G08G1/0967G08G1/16G05D1/02
CPCG05D1/021G08G1/091G08G1/096725G08G1/167
Inventor 熊光明刘天放程文龚建伟陈慧岩
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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