A method and device for determining the merging point of a smart vehicle forced lane change
A technology for determining the method and merging point, which is applied in the field of determining the merging point of the forced lane change of smart vehicles, can solve problems such as ignoring the impact, and achieve scientific selection, scientific and reasonable judgment and decision-making basis, road traffic safety and driving efficiency guarantee Effect
Active Publication Date: 2021-10-15
SOUTHEAST UNIV
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Problems solved by technology
Generally speaking, the existing researches tend to focus on macro control, lack of research on the merge point of the lane change gap, ignore the influence of lane change behavior on the target vehicle and the following vehicles in the target lane, and rarely study the merge point of the forced lane change. micro research
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[0027] In order to make the content of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0028] like figure 1 As shown, a method for determining the merging point of a smart vehicle forced lane change disclosed in the embodiment of the present invention includes the following steps:
[0029] (1) Acquire the lane-changing micro information of the target vehicle, which includes the speed and position data of the target vehicle, the leading vehicle in the target lane, and the following vehicle.
[0030] Specifically, the acquisition method of vehicle micro data can be obtained automatically through the environment perception system of the smart car, through the vehicle-vehicle or vehicle-road collaborative control system, or through the Internet of Things and cloud data platforms. The measured or shared position information of the leading vehicle...
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The invention discloses a method and a device for determining an entry point for a forced lane change of an intelligent vehicle. The method includes: obtaining the microscopic information of the target vehicle's lane change, including the speed and position data of the target vehicle, the leading vehicle in the target lane, and the following vehicle; calculating the target The critical safety gap between the vehicle and the following vehicle in the target lane; according to the type of free lane change and forced lane change, calculate the mean value of the politeness factor of the number of effective lane changes; determine the weight coefficient representing the driving characteristics, and calculate the politeness factor of the current smart car's forced lane change ; According to the positional relationship between the target vehicle and the leading vehicle in the target lane, calculate and determine the merging point of the current smart vehicle forcibly changing lanes. The method provided by the present invention comprehensively considers the interaction between the lane-changing vehicle and the front and rear vehicles in the target lane, and the selection of the lane-changing merging point is more accurate, thereby providing scientific and reasonable judgment and decision-making basis for the driver or smart car, and contributing to road traffic safety and Driving efficiency is guaranteed.
Description
technical field [0001] The invention relates to the field of intelligent traffic control, in particular to a method and a device for determining a merging point for a forced lane change of an intelligent vehicle. Background technique [0002] With the rapid development of technologies such as computers, wireless communications, and vehicle engineering, conventional cars have gradually been equipped with smart devices, and are gradually developing towards smart cars, including intelligent networked cars and self-driving cars. Under the background of the strategy of "powering the country with transportation", Internet companies cooperate with traditional car companies to continuously innovate, improve the performance of smart cars, and continuously improve driving safety and traffic efficiency. [0003] According to the direction of travel, the driving of vehicles is divided into lateral lane change and longitudinal car following. Lateral lane changes often have higher risks,...
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IPC IPC(8): B60W60/00
CPCB60W60/0015B60W60/00272
Inventor 董长印王昊屈颖王雷震巴贝尔陈全刘雍翡李昌泽卢云雪马克阮天承
Owner SOUTHEAST UNIV