Lane changing method and device of unmanned vehicle and storage medium

A lane-changing technology for unmanned vehicles, applied in the field of devices, computer-readable storage media, and lane-changing methods for unmanned vehicles, can solve problems such as driving, failing to follow the planned driving route, and failing to guarantee unmanned vehicles.

Active Publication Date: 2019-06-28
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the actual road condition scenario, if the target lane for lane change is blocked, it is impossible to drive according to the planned driving

Method used

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  • Lane changing method and device of unmanned vehicle and storage medium
  • Lane changing method and device of unmanned vehicle and storage medium
  • Lane changing method and device of unmanned vehicle and storage medium

Examples

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Embodiment Construction

[0109] In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0110] figure 1 It is a flowchart of a lane changing method for an unmanned vehicle provided by an embodiment of the present invention. Such as figure 1 As shown, the lane changing method of the unmanned vehicle of the embodiment of the present invention includes:

[0111] Step S11, based on the driving intention of the host vehicle, determine the candidate lane for lane change;

[0112] Step S12, based on the lane change conditions of each of the candidate lanes, screening the candidate lanes;

[0113] Step S13, selecting a target lane for the host vehicle to perform a lane change from the screened can...

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Abstract

The embodiment of the invention provides a lane changing method and a lane changing device of an unmanned vehicle and a computer-readable storage medium. The lane changing method of the unmanned vehicle comprises the following steps: based on the driving intention of a main vehicle, determining candidate lanes to be entered through lane change; based on the lane changing condition of each candidate lane, screening the candidate lanes; selecting a target lane of the main vehicle during the lane change from the screened candidate lanes; judging whether the main vehicle is safe during the changefrom the current lane to the target lane; under the condition that a judgment result is safe, changing the lane. According to the embodiment of the invention, a safe and reasonable lane changing decision is given through comprehensive judgment according to information such as the lane changing conditions, so that the lane most suitable for driving can be selected and a safe time point is selectedfor the lane change, and thus the probability of failure occurrence is greatly reduced and the safe and smooth lane change of the unmanned vehicle is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to a lane changing method, device and computer-readable storage medium for unmanned vehicles. Background technique [0002] The unmanned vehicle system in the prior art uses the planning module to plan the driving route, for example, in the planned driving route, when driving to a certain position in the current lane, the driver should drive in a lane. However, planning a driving route usually only plans where a lane change needs to be made according to the driving destination, and does not make a comprehensive judgment based on road conditions and other information to give a safe and reasonable lane change decision. In an actual road condition scenario, if the target lane for changing lanes is blocked, it is impossible to drive according to the planned driving route. Therefore, only relying on the guidance of the planned driving route cannot guarantee the safe and...

Claims

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Application Information

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IPC IPC(8): G08G1/16
CPCB60W30/18163B60W60/0011G08G1/167G01C21/3407B60W40/06B60W50/10B60W60/0015B60W30/08B60W40/105G06N20/00B60W2552/50B60W2554/802B60W2720/10B60W30/12B60W2554/801B60W2050/0022B60W2050/0005B60W2554/4041B60W2554/804B60W2554/4042B60W50/00G05D1/0088G05D1/0214G05D2201/0213G06N5/04
Inventor 李洪业张宽唐怀珠
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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