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

Abstract

The invention discloses a method for predicting after a vehicle changes lanes to a vehicle in front of a target lane in automatic driving, and obtains the driving state data of the following vehicles in the current sampling period: a pre-lane-changing vehicle, the first vehicle in front of the lane where the pre-lane-changing vehicle is located , the first vehicle in the target lane in front of the pre-change vehicle, and the first vehicle in the target lane behind the pre-change vehicle; combine the acquired driving state data of each vehicle and the lane environment data to calculate the pre-lane change vehicle The degree of willingness to change lanes to the front vehicle in the target lane; when the willingness degree exceeds the willingness threshold, it is predicted that the pre-lane-changing vehicle will change lanes to the front vehicle in the target lane at a future moment. The prediction method of the present invention effectively eliminates the factors that the surrounding vehicles interfere with the decision-making of the own vehicle, improves the certainty of the decision-making of the own vehicle; at the same time, effectively reduces the amount of data analysis and calculation of the prediction module in the automatic driving system, and reduces the operation difficulty and operating cost of the automatic driving system , effectively improving the lag delay of decision-making.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method for predicting after 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...

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 data analysis of the vehicle's driving status, increasing the difficulty and cost of the automatic driving system operation

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