Planning method for autonomous lane changing overtaking movement of intelligent vehicle in semi-structured environment

Abstract

The invention discloses a planning method for autonomous lane changing overtaking movement of an intelligent vehicle in a semi-structured environment. The planning method comprises the following steps that 1, the current travelling state of the vehicle is determined; 2, an overtaking lane-changing track for leftward lane changing is planned through a lane changing route planning method based on combination of GPS and lane lines; 3, the coordinate of an overtaking lane-changing pre-aiming point is determined, the overtaking lane-changing track is updated; 4, after leftward lane changing is finished, overtaking is conducted according to the set overtaking speed and the set overtaking time; 5, rightward lane returning is conducted according to the method in the step 2; 6, the coordinate of an overtaking lane-returning pre-aiming point is determined, and an overtaking lane-returning track is updated; and 7, after rightward lane returning is finished, straight travelling is conducted according to the set straight travelling speed. By adopting the lane changing route planning method based on combination of the GPS and the lane lines, good fault-tolerant capability and robustness are achieved; and lane changing points are dynamically updated in the lane changing process so that the vehicle can better avoid static obstacles and dynamic obstacles and be driven into an adjacent lane.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving and its control, and in particular relates to a motion planning method for autonomous lane changing and overtaking of intelligent vehicles in a semi-structured environment. Background technique [0002] The behavior of overtaking and changing lanes occurs frequently in daily vehicle driving. Drivers often use this driving skill to reach their destination. At the same time, it has become a very dangerous behavior strategy in daily traffic. Drivers need to master skilled technology and skills, and obey traffic laws and regulations to prevent accidents and accidents. As the speed of the accompanying vehicle increases, there is an obvious upward trend in lane-changing collisions when overtaking. There are not many accidents caused by overtaking, and the death rate caused by lane-changing collisions is not high, accounting for about 0.5% of the death toll in traffic accidents, but the cons...

AI Technical Summary

Problems solved by technology

[0005] The present invention proposes a motion planning method for autonomous lane-changing and overtaking of intelligent vehicles in a semi-structured environment. The path planning method of overtaking lane change and vehicle return lane integrated with the lane line improves the fault tolerance and robustness of intelligent vehicle lane change and lane return; the lane change point is updated in real time during the lane change and lane return process, so that the vehicle can Better avoid dynamic and static obstacles, and reach the target lane smoothly

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