Vehicle lane changing method and device

A vehicle and lane technology, applied in the field of vehicle lane changing methods and devices, to achieve the effect of shortening the lateral distance and improving the success rate

Active Publication Date: 2021-02-02
MOMENTA SUZHOU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the case of existing lane-changing requests, how self-driving vehicles can take some active measures to improve the success rate of lane-changing in dense traffic scenarios remains to be studied.

Method used

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  • Vehicle lane changing method and device
  • Vehicle lane changing method and device
  • Vehicle lane changing method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] see figure 1 , figure 1 It is a schematic flowchart of a vehicle lane changing method provided by an embodiment of the present invention. This method is applied in the application scenario where the traffic is relatively dense during the automatic driving process and it is impossible to directly perform lane changes. The method can be performed by the lane changing device of the vehicle, which can be realized by means of software and / or hardware, and generally can be integrated in vehicle-mounted terminals such as a vehicle-mounted computer and a vehicle-mounted industrial control computer (Industrial personal Computer, IPC). The present invention implements Examples are not limited. like figure 1 As shown, the method provided in this embodiment specifically includes:

[0058] 110. When the current vehicle needs to change lanes, if it is judged that the current vehicle cannot change to an adjacent lane, then judge whether there is a rear lane in the adjacent lane th...

Embodiment 2

[0078] see image 3 , image 3 It is a structural schematic diagram of a vehicle lane changing device provided by an embodiment of the present invention. like image 3 As shown, the device includes: a rear vehicle judgment module 210, a target displacement determination module 220 and a lane change module 230, wherein,

[0079] The following vehicle judging module 210 is configured to determine whether the current vehicle is traveling in the same direction as the current vehicle and is in a relative running state on the adjacent lane if it is judged that the current vehicle cannot change to the adjacent lane when the current vehicle needs to change lanes. The following vehicle meeting the first set condition, wherein the relative running state includes relative speed and relative distance;

[0080] The target displacement determining module 220 is configured to determine the target displacement of the current vehicle that needs to be close to the target lane line before cha...

Embodiment 3

[0097] see Figure 4 , Figure 4 It is a schematic structural diagram of a vehicle-mounted terminal provided by an embodiment of the present invention. like Figure 4 As shown, the vehicle terminal may include:

[0098] A memory 701 storing executable program codes;

[0099] a processor 702 coupled to the memory 701;

[0100] Wherein, the processor 702 invokes the executable program code stored in the memory 701 to execute the vehicle lane changing method provided by any embodiment of the present invention.

[0101] An embodiment of the present invention discloses a computer-readable storage medium, which stores a computer program, wherein the computer program enables a computer to execute the lane-changing method for a vehicle provided in any embodiment of the present invention.

[0102] The embodiment of the present invention discloses a computer program product, wherein, when the computer program product is run on a computer, the computer is made to execute some or all...

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Abstract

The embodiment of the invention discloses a vehicle lane changing method and device, and the method comprises the steps: judging whether there is a rear vehicle which runs in the same direction as a current vehicle and has a relative running state meeting a first set condition on an adjacent lane or not if the current vehicle is judged not to be able to change to the adjacent lane when the currentvehicle needs to change a lane, wherein the relative operation state comprises a relative speed and a relative distance; if the rear vehicle exists, determining that the current vehicle needs to getclose to a target lane line before lane changing, the target lane line being a lane line between the current lane and an adjacent lane; and controlling the current vehicle to execute the line approaching operation close to the target lane line according to the target displacement, and after the line approaching operation is completed, if it is judged that the current vehicle can be changed to theadjacent lane, controlling the current vehicle to change the lane. By the adoption of the technical scheme, the success rate of autonomous lane changing of an automatic driving vehicle in a dense traffic scene is increased.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a lane changing method and device for vehicles. Background technique [0002] Autonomous lane changing (also known as lane changing, merging, etc.) is one of the functions that L3 and above self-driving vehicles must implement. In a traffic scene with dense traffic, how to improve the success rate of autonomous lane changes and reduce the number of times that human drivers take over is a technical problem faced by autonomous vehicles. [0003] At present, most studies focus on how to generate lane-changing motivation or request, how to judge whether lane-changing behavior is safe, and how to plan lane-changing trajectory under the condition of existing lane-changing decision. However, in the case of existing lane-changing requests, it remains to be studied how self-driving vehicles can take some active measures to improve the success rate of lane-changing in dense traf...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00B60W30/18B60W40/02B60W50/00
CPCB60W30/18163B60W40/02B60W50/00B60W30/18B60W60/00
Inventor 李仁杰冉旭田勃王睿贾思博
Owner MOMENTA SUZHOU TECH CO LTD
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