Optimal autonomous vehicle off-ramp intention generation point calculation method

A technology of automatic driving and calculation method, applied in the direction of calculation, traffic control system of road vehicles, instruments, etc., can solve problems such as finding automatic driving vehicles, and achieve the effect of ensuring driving safety, reducing impact, and improving traffic capacity

Active Publication Date: 2018-08-28
SOUTHWEST JIAOTONG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

However, there is currently no similar algorithm to find the optimal off-ramp intention generation point for autonomous vehicles

Method used

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  • Optimal autonomous vehicle off-ramp intention generation point calculation method
  • Optimal autonomous vehicle off-ramp intention generation point calculation method
  • Optimal autonomous vehicle off-ramp intention generation point calculation method

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Embodiment Construction

[0033] A method for calculating the optimal intention generation point of an automatic driving vehicle in an off-ramp scene of an expressway, comprising the following content:

[0034] 1. Probability model for successful lane change in two lanes

[0035] The background described by this model is as follows figure 1 As shown, it is the most basic highway off-ramp lane change scenario. In order for the vehicle SV to enter the ramp exit deceleration lane at the speed limit, it must change from the high-speed lane to the low-speed lane at or before point C (that is, the starting point of the ramp) . Point B is the starting point of the latest lane change execution, L B is the latest lane change trajectory, L D is the actual lane change trajectory. In order to determine the time T for the lane-changing vehicle SV to find a suitable headway, it is first necessary to perform global optimization of the lane-changing trajectory, that is, to determine the position of point B. Assum...

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Abstract

The invention discloses an optimal autonomous vehicle off-ramp intention generation point calculation method, which comprises the following steps: (Step 1) a latest multi-lane change execution point is determined; (Step 2) a multi-lane change success rate is calculated; (Step 3) an off-ramp intention generation point is optimized. The optimal autonomous vehicle off-ramp intention generation pointcalculation method enables a lane-changing autonomous vehicle to judge and determine the position of an optimal off-ramp intention generation point according to time headway distribution and the speedof the lane-changing autonomous vehicle and find an appropriate lane change opportunity to carry out lane change, on one hand, a high lane change success probability can be realized to guarantee thesafety of driving, on the other hand, the position of the off-ramp intention generation point can be appropriately adjusted, so that the off-ramp vehicle can be changed to a low-speed lane in time, consequently, the influence of off-ramp traffic on main lane traffic is reduced, and the traffic capacity of an expressway section is improved.

Description

technical field [0001] The invention relates to a method for calculating an optimal intention generation point of an off-ramp of an automatic driving vehicle. Background technique [0002] Autonomous driving technology is an important means to alleviate traffic congestion and improve traffic safety in the future. The development of this technology is beneficial to society, vehicle drivers and pedestrians. As the core issue in the field of autonomous driving, vehicle lane changing behavior is also a key link in basic road driving behavior, which has a significant impact on traffic safety and traffic flow characteristics. [0003] When the self-driving vehicle is off-ramp on the expressway, if the vehicle off-ramp intention generation point is too close to the ramp exit, the success rate of the off-ramp will be smaller; if the vehicle off-ramp intention generation point is too far away from the ramp exit, it will be over Entering the slow lane early reduces the overall drivin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/0967G06Q10/04
CPCG06Q10/04G08G1/096725
Inventor 杨达郑施雨熊明强
Owner SOUTHWEST JIAOTONG UNIV
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