Lane Change Decision and Trajectory Planning Method

Abstract

The invention discloses a lane changing decision and trajectory planning method. According to the method, a trip computer of a vehicle receives sensing signals of a plurality of sensors on the vehicle, and then a plurality of pieces of driving speed time sorting information and a plurality of pieces of environment state time sorting information are generated. Furthermore, a nine-square block corresponding to the surrounding environment of the vehicle is generated. When the trip computer receives a turn-on signal of the turn light, data within a time section are selected from the plurality of pieces of driving speed time sorting information and the plurality of pieces of environment state time sorting information respectively. A lane changing space is generated based on the data processingtogether with the nine-square block. Meanwhile, whether the lane changing space accords with a safe movement decision or not is judged through a decision mode, so that a movement planning path is generated. Therefore, the lane change assistance is provided for the vehicle in the safest space at any speed, and the purpose of improving the lane change convenience and safety is achieved.

Description

technical field [0001] The invention relates to a decision-making and trajectory planning method applied to vehicles, in particular to a lane-changing decision-making and trajectory planning method applied to vehicles. Background technique [0002] In order to improve the convenience and safety of vehicle driving, various car manufacturers have developed self-driving cars to assist drivers in driving vehicles. Among them, by installing a plurality of different sensors on the vehicle, such as radar, image capture device (such as a camera) or GPS, and through software tools such as image recognition software in the vehicle computer, the captured images are analyzed. It can be processed to obtain the relative position, relative distance, lane line width, lane line position, etc. of the vehicle in front, and can be further processed according to the speed of the vehicle in front sensed by the radar, so that the vehicle can automatically Active Cruise Control (ACC) to achieve au...

AI Technical Summary

Problems solved by technology

[0003] At present, various car manufacturers have developed lane change assistance in the case of high-speed driving (60 km / h (hereinafter referred to as Km / hr) or above), so that the vehicle can automatically assist the vehicle in accordance with the direction of the turn signal switched by the driver. Lane change, however, the lane change assist is not applied at low speeds (below 60Km / hr)

Images