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

An intelligent vehicle and semi-structured technology, applied in the field of intelligent driving and its control, can solve the problem of unsmooth lane return of overtaking and changing lanes, improve the trajectory generation method and speed distribution method, and overcome the excessive lateral velocity and acceleration , Good fault tolerance and robustness

Active Publication Date: 2017-10-20
CENT SOUTH UNIV
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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 t

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

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Embodiment Construction

[0053] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0054] The present embodiment adopts the smart car refitted with a long 12m and a wide 2.5m bus, which is equipped with laser radar, millimeter wave radar, camera and GPS / IMU system, and carries out the overtaking experiment of the smart car on a standard two-way six-lane road.

[0055] see figure 1 The flow chart shown is a motion planning method for autonomous lane-changing and overtaking of intelligent vehicles in a semi-structured environment, with a planning period of 50 ms, including the following steps:

[0056] Step 1: establish a vehicle navigation coordinate system, and determine the current driving state of the vehicle according to the driving state of the vehicle at the last moment and combined with the obstacles ahead on the current lane;

[0057] The driving state of the vehicle includes: going straight, changing lanes,...

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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...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W30/08B60W40/02B60W40/105
CPCB60W30/08B60W30/18B60W40/02B60W40/105
Inventor 余伶俐龙子威周开军邵玄雅莫斯尧孔德成
Owner CENT SOUTH UNIV
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