A lane-changing method for intelligent vehicle decision-making based on intelligent transportation system

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 ...

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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