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Lane changing path planning method and system

A road path and path technology, applied in the field of automatic driving, can solve the problems of reducing traffic efficiency, increasing driving risk, and difficult to meet the safety requirements of vehicle lane changes, so as to avoid the waste of computing resources, solve the problems of low traffic efficiency, High safety effect

Active Publication Date: 2020-07-31
NINGBO GEELY AUTOMOBILE RES & DEV CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, when the vehicle changes lanes, it can only judge the safety situation at a certain distance around the vehicle, and does not know the traffic flow ahead, for example: there is a merge or bifurcation in front of the road, the road is narrowed in front, etc., and this The car cannot effectively identify its road fluency
Therefore, after the vehicle changes lanes, it is likely to find that the lane after the lane change is not a driving lane with high traffic efficiency, so the lane change decision is made again
And constantly changing lanes will not only reduce traffic efficiency but also increase the risk of driving
Relying solely on the cloud to identify road fluency and provide evidence for lane changes is difficult to meet the safety requirements for vehicle lane changes

Method used

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  • Lane changing path planning method and system
  • Lane changing path planning method and system
  • Lane changing path planning method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0070] Please refer to figure 1 and figure 2 , figure 1 It is a schematic diagram of a scene of a lane change path planning method provided by the embodiment of this specification, figure 2 It is a schematic flow chart of a lane change path planning method provided by the embodiment of this specification. It should be noted that this specification provides the method operation steps as described in the embodiment or flow chart, but based on conventional or non-inventive Labor may include more or fewer operational steps. The order of the operation steps described in the embodiment or the flow chart is only one of the execution orders of many steps, and does not represent the only execution order. When the vehicle is actually running, it can be performed according to the embodiment or shown in the accompanying drawings. Methods are executed sequentially. specific as figure 2 As shown, the method includes:

[0071] S100: Obtain first driving information of a first vehicl...

Embodiment 2

[0143] This embodiment provides a system for lane change path planning, including:

[0144] A first acquiring module, configured to acquire first driving information of a first vehicle and second driving information of the second vehicle, the second vehicle is driving in the lane where the first vehicle is located and is located in the first vehicle the vehicle ahead;

[0145] A first judging module, configured to determine whether the first vehicle needs to change lanes according to the first driving information and the second driving information;

[0146] A second acquiring module, configured to determine a monitoring area according to the first vehicle when the first vehicle has a lane change requirement, and acquire road condition information in the monitoring area;

[0147] A second judging module, configured to judge whether the first vehicle satisfies the lane change condition according to the road condition information in the monitoring area;

[0148] A third acquiri...

Embodiment 3

[0153]This embodiment provides an electronic device, including:

[0154] one or more processors;

[0155] memory; and

[0156] One or more programs, the one or more programs are stored in the memory and executed by the one or more processors, the programs include a program for performing any one of claims 1 to 7 A lane-changing path planning method.

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Abstract

The invention discloses a lane changing path planning method. The method comprises the steps of acquiring first driving information of a first vehicle and second driving information of a second vehicle; determining whether the first vehicle has a lane changing demand or not; when the first vehicle has a lane changing demand, determining a monitoring area according to the first vehicle, acquiring road condition information in the monitoring area, and judging whether the first vehicle meets a lane changing condition or not; if the first vehicle meets the lane changing condition, determining at least one third vehicle, and obtaining third driving information of each third vehicle; obtaining a candidate lane changing path set; obtaining the safety coefficient of each candidate lane changing path in the candidate lane changing path set; and determining a target lane changing path from the candidate lane changing path set. The invention further provides a lane changing path planning system.According to the invention, through an avoidance function and screening of the safety coefficients of the candidate lane changing paths, the safety problem of the vehicle with an encountered front vehicle and an encountered rear vehicle when changing to an adjacent lane are avoided. The method is simple and high in safety.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a method and system for lane change path planning. Background technique [0002] The transportation system at the present stage has developed extremely large, but at the same time, the environmental pollution and traffic safety problems have become two important problems that need to be solved urgently. Unmanned driving and assisted driving rely on the mutual communication between vehicles and between vehicles and infrastructure, which can well realize path planning and safety precautions, and vehicles running in automatic driving mode can take occupants, especially drivers Drivers are liberated from some driving-related duties, so it has become a current research hotspot and has received close attention at home and abroad. [0003] The vehicle's perception of the surrounding traffic state and the real-time trajectory control of the vehicle are important factors for the safe and...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W30/095
CPCB60W30/18163B60W30/0956
Inventor 张善文
Owner NINGBO GEELY AUTOMOBILE RES & DEV CO LTD
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