Lane changing decision-making method and device

A decision-making method and decision-making technology, applied in the field of lane-changing decision-making methods and devices, can solve problems such as characterizing the relationship between input and output, opaque calculation process, and difficulty in collecting comprehensive and complete lane-changing data

Active Publication Date: 2019-06-04
BEIJING JINGWEI HIRAIN TECH CO INC
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Data-based algorithms require a large amount of data for model training and testing, and different drivers have very different lane-changing motivations under different working conditions, so it is difficult to collect comprehensive and complete lane-changing data
Moreover, the algorithm implementation process is cumbersome, and data process

Method used

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  • Lane changing decision-making method and device
  • Lane changing decision-making method and device
  • Lane changing decision-making method and device

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Embodiment Construction

[0080] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0081] The embodiment of the present invention discloses a lane-changing decision-making method and device. Based on the obtained first motion information of the vehicle and the second motion information of the environment vehicle, the driving environment of the vehicle is divided into different areas. Each area The relative orientation between the environment vehicle and the vehicle in the environment is the same, determine the target vehicle with the shortest...

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Abstract

The invention discloses a lane changing decision-making method and device; based on the obtained first motion information of a own vehicle and the second motion information of environment vehicles, the driving environment of the own vehicle is divided into different areas; the relative directions of the environmental vehicles and the own vehicle in each area are the same; a target vehicle in eacharea is determined; a lane changing flag bit of each area is in a safe state or an unsafe state is determined based on the a relative distance and a relative speed between the target vehicle in each area and the own vehicle; and a target lane changing decision is made according to the lane changing flag bit of each area. The driving environment of the own vehicle is divided into different areas; whether the target vehicle generating potential threats to normal driving of the own vehicle exists in all the areas or not is determined, such that the final target lane changing decision is made; thewhole lane changing decision making process is simple and clear, and collection and training of a large amount of data are avoided.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, and more specifically, relates to a lane-changing decision-making method and device. Background technique [0002] During the driving process, the vehicle usually performs lane changes autonomously in pursuit of faster speed and more free driving space. Compared with car-following behavior, lane-changing behavior needs to consider more complex surrounding vehicles and road environment information. In order for autonomous vehicles to have the lane-changing experience of human drivers and to be able to drive freely in the road environment, it is necessary to conduct in-depth research on lane-changing behavior. Reasonable lane-changing decision-making provides a good foundation for implementing lane-changing behavior, and is of great significance to ensure the safety and comfort of lane-changing. Currently, the most widely used autonomous lane-changing decision-making method is t...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W30/095
Inventor 陈安林万里明刘巍
Owner BEIJING JINGWEI HIRAIN TECH CO INC
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