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A lane changing method, device, electronic device and medium for an automatic driving vehicle

A technology of automatic driving and lane change, applied in the field of data processing and automatic driving, can solve the problems of single consideration factors, vehicles cannot be safely merged into the traffic flow, etc., and achieve the effect of improving traffic capacity

Active Publication Date: 2022-01-14
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, due to the single consideration of the vehicle in the lane change process of the existing technical solutions, the vehicle cannot be safely merged into the traffic flow.

Method used

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  • A lane changing method, device, electronic device and medium for an automatic driving vehicle
  • A lane changing method, device, electronic device and medium for an automatic driving vehicle
  • A lane changing method, device, electronic device and medium for an automatic driving vehicle

Examples

Experimental program
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Effect test

no. 1 example

[0043] figure 1 It is a flow chart of a lane-changing method for an automatic driving vehicle according to the first embodiment of the application. This embodiment is applicable to how to ensure that the vehicle can safely merge into the traffic flow, where the vehicle can be an ordinary vehicle driving on the road , can also be a self-driving vehicle. The method can be executed by a lane-changing device for an automatic driving vehicle, which can be implemented in the form of software and / or hardware, and can be integrated on the automatic driving vehicle, and further can be integrated on the decision planning module of the automatic driving vehicle. Such as figure 1 As shown, the method for changing lanes of an automatic driving vehicle provided in this embodiment may include:

[0044] S110. According to the current lane where the target vehicle is located and the target lane into which the target vehicle will change lanes, plan at least two candidate lane change trajector...

no. 2 example

[0057] figure 2 It is a flowchart of a method for changing lanes of an automatic driving vehicle according to the second embodiment of the present application. On the basis of the above-mentioned embodiments, this embodiment further analyzes the obstacle information on the current lane and the obstacle gap information on the target lane. , to determine the target vehicle's target lane change parameters for explanation. Such as figure 2 As shown, the method for changing lanes of an automatic driving vehicle provided in this embodiment may include:

[0058] S210. According to the current lane where the target vehicle is located and the target lane into which the target vehicle will change lanes, plan at least two candidate lane change trajectories.

[0059] S220. According to the obstacle information on the current lane and the obstacle gap information on the target lane, plan at least two sets of lane change parameters of the target vehicle.

[0060] Optionally, the obstac...

no. 3 example

[0080] image 3 It is a flowchart of a method for changing lanes of an automatic driving vehicle according to the third embodiment of the present application. On the basis of the above-mentioned embodiments, this embodiment further selects from at least two candidate lane-changing trajectories according to the target lane-changing parameters. Select the target lane change trajectory where the target vehicle merges into the target lane for explanation. Such as image 3 As shown, the method for changing lanes of an automatic driving vehicle provided in this embodiment may include:

[0081] S310. According to the current lane where the target vehicle is located and the target lane into which the target vehicle will change lanes, plan at least two candidate lane change trajectories.

[0082] S320. Determine target lane-changing parameters of the target vehicle according to the obstacle information on the current lane and the obstacle gap information on the target lane.

[0083]...

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Abstract

The embodiment of the present application discloses a lane changing method, device, electronic equipment and medium for an automatic driving vehicle, and relates to the technical field of automatic driving. The specific implementation plan is: according to the current lane where the target vehicle is located and the target lane into which the target vehicle will change lanes, plan at least two candidate lane change trajectories; according to the obstacle information on the current lane and the obstacle on the target lane The gap information is used to determine target lane-changing parameters of the target vehicle; and to select a target lane-changing trajectory for the target vehicle to merge into the target lane from the at least two candidate lane-changing trajectories according to the target lane-changing parameters. Through the technical solutions of the embodiments of the present application, it is possible to effectively improve the traffic capacity of the self-driving vehicle merging into the traffic flow without introducing the risk of collision.

Description

technical field [0001] The present application relates to data processing technology, in particular to automatic driving technology, and in particular to a method, device, electronic device and medium for changing lanes of an automatic driving vehicle. Background technique [0002] In the process of motion planning for autonomous driving, it is a difficult problem to change lanes and merge into traffic within a limited time and distance. Existing technical solutions are generally based on rules, using ST diagrams, by setting time to headway (time to headway) and ttc (time to collision, collision time) to determine which gap in the target lane the main vehicle enters, so as to achieve Change lanes to merge into traffic. [0003] However, in the existing technical solutions, the vehicle cannot be safely merged into the traffic flow due to the single consideration of the vehicle during the lane change process. Contents of the invention [0004] Embodiments of the present ap...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/0967G08G1/16
CPCG08G1/096725G08G1/167
Inventor 高飞
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD