Prediction method before the vehicle changes lanes to the vehicle in front of the target lane in automatic driving

Abstract

The invention discloses a prediction method before a vehicle changes lanes to a vehicle in front of a target lane in automatic driving, and obtains the driving state data of the current sampling period of the pre-lane-changing vehicle, vehicle one, vehicle two, and vehicle three; vehicle one is the pre-lane change The first vehicle in front of the lane where the vehicle is located; vehicle two and vehicle three are respectively the first vehicle and the second vehicle in front of the pre-change lane vehicle in the target lane; combined with the driving state data of each vehicle, the pre-lane change vehicle lane change is calculated Willingness before vehicle two; when the willingness exceeds the willingness threshold, it is predicted that the pre-change lane vehicle will change lanes before vehicle two in the future. The prediction method of the present invention before the vehicle changes lanes to the vehicle in front of the target lane effectively eliminates the factors that the surrounding vehicles interfere with the vehicle's decision-making, improves the certainty of the vehicle's decision-making, effectively reduces the amount of data analysis and calculation of the prediction module in the automatic driving system, and reduces the automatic The operating difficulty and operating cost of the driving system can effectively improve the lag delay of decision-making.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a prediction method before a vehicle changes lanes to a vehicle in front of a target lane during automatic driving. Background technique [0002] Autonomous driving includes four modules: prediction, decision-making, planning and control. The prediction module predicts whether the vehicle will change lanes in the future based on the vehicle driving status data and lane environment data of each lane, as well as the lane change trajectory in the case of lane change. Lane changing includes left lane changing and right lane changing, and left and right lane changing includes changing lanes before the vehicle in front of the target lane and after changing lanes to the vehicle in front of the target lane. The decision-making module calculates the next expected state of the vehicle according to the predicted output results of the prediction module, environmental information, n...

AI Technical Summary

Problems solved by technology

These interesting surrounding vehicles with low willingness to change lanes will interfere with the decision-making of the own vehicle, and will also increase the calculation amount of the vehicle's protective gear analysis for each vehicle's driving state, increasing the difficulty and operating cost of the automatic driving system

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