A method and system for autonomous overtaking for self-driving cars
An autonomous driving and automobile technology, applied in the field of autonomous overtaking methods and systems, can solve the problems of not considering the driving space, lack of calculation methods, overtaking safety strategy risks, etc., so as to save overall energy consumption, improve traffic efficiency, and improve intelligence. degree of effect
Active Publication Date: 2022-07-26
GUANGZHOU AUTOMOBILE GROUP CO LTD
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Problems solved by technology
In the existing overtaking method, the driving space in front of the overtaking vehicle is not considered, and the calculation method for the overtaking motivation is lacking. At the same time, when making safety decisions, the auxiliary information provided by the high-precision map is not used to check the hazards within the overtaking range. evasion, resulting in certain risks in the generated overtaking safety strategy
Method used
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Embodiment 1
[0084] The first embodiment of the present invention proposes an autonomous overtaking method for an autonomous vehicle, which can be applied to the autonomous overtaking system for an autonomous vehicle as described in the second embodiment of the present invention. The system includes an overtaking motive determination unit, an overtaking Gain value obtaining unit, overtaking safety policy generation unit and overtaking control unit.
[0085] figure 1 A schematic flowchart of an autonomous overtaking method for an autonomous vehicle according to Embodiment 1 of the present invention, refer to figure 1 , the method of Embodiment 1 includes the following steps S101-S104:
[0086] Step S101: Determine whether there is an overtaking motive according to vehicle sensing data in real time; wherein, the vehicle sensing data includes the current vehicle speed V1, the speed of the preceding vehicle V2, the average speed of the left front and rear vehicles V3, the left front The dist...
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The present invention relates to an autonomous overtaking method and a system for an autonomous vehicle. The method includes: step S101, judging whether there is an overtaking motive according to vehicle sensing data in real time; wherein the vehicle sensing data includes the current local Vehicle speed V1, front vehicle speed V2, average vehicle speed V3 of left front and rear vehicles, distance D1 between left front and rear vehicles, distance D2 between front and front vehicles, and distance D3 between the preceding vehicles; step S102, if there is an overtaking motive, determine the overtaking profit value according to at least part of the vehicle sensor data; step S103, according to the comparison between the overtaking profit value and the preset profit threshold The result and the high-precision map data generate an overtaking safety policy; step S104, overtaking is performed according to the overtaking safety policy. The system is used to implement the method. The invention can improve the safety of autonomous overtaking of an autonomous vehicle.
Description
technical field [0001] The invention relates to the technical field of automobiles, in particular to an autonomous overtaking method and a system thereof for an automatic driving automobile. Background technique [0002] At present, autonomous driving technology is a key research technology of the country and the industry. Currently, autonomous driving technology is gradually moving towards the stage of technology implementation and industrial application. Considering cost and safety, autonomous driving technology in highway scenarios has high commercial value and Based on the application basis, the cruise and lane keeping for highway automatic driving is relatively mature. The current technology research hotspot is shifting from L2 high-speed automatic driving assistance to L3 high-speed automatic driving that replaces the driver, among which autonomous overtaking has become an important technical topic. [0003] At present, the research on the problem of autonomous vehicle...
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IPC IPC(8): B60W30/18B60W50/00B60W60/00
CPCB60W30/18163B60W50/00B60W2050/0002B60W2520/10
Inventor 范明周鹏夏锌金平凡许松枝
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD