Autonomous overtaking method and system

A technology for a host vehicle and a vehicle, applied in the field of autonomous overtaking methods and systems, can solve problems such as difficulty in trajectory tracking in the overtaking process, achieve accurate and reasonable motion primitive decision-making, optimize trajectory tracking effects, and achieve the effects of safe autonomous overtaking

Inactive Publication Date: 2021-11-19
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a method and system for autonomous overtaking, realize safe and efficient autonomous overtaking of vehicles, and solve the problem of difficult track tracking in the overtaking process in the prior art

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  • Autonomous overtaking method and system
  • Autonomous overtaking method and system
  • Autonomous overtaking method and system

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Embodiment Construction

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0049] The purpose of the present invention is to provide a method and system for autonomous overtaking, which can realize safe and efficient autonomous overtaking of vehicles, and solve the problem of difficult trajectory tracking in the overtaking process in the prior art.

[0050] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunc...

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Abstract

The invention relates to an autonomous overtaking method and system. The method includes the steps of: defining a state lattice space; determining trajectory parameters in different overtaking stages according to the state lattice space; constructing a vehicle motion model according to the state lattice space and the trajectory parameters in different overtaking stages; generating a vehicle prediction track according to the vehicle motion model; and performing overtaking trajectory tracking according to the vehicle prediction trajectory, and determining an overtaking decision based on a semi-Markov decision process. Safe and efficient autonomous overtaking of the vehicle is achieved, and the problem that trajectory tracking is difficult in the overtaking process in the prior art is solved.

Description

technical field [0001] The invention relates to the field of intelligent driving, in particular to an autonomous overtaking method and system. Background technique [0002] With the continuous increase of car ownership and the continuous advancement of autonomous driving technology, intelligent driving systems have gradually entered the public eye, and autonomous overtaking systems have increasingly attracted the attention of researchers at home and abroad. However, there are still some deficiencies in the current research on autonomous overtaking systems at home and abroad. [0003] In typical driving scenarios for drivers, overtaking behavior is one of the most risky and challenging driving methods. Aiming at the problem of autonomous overtaking of intelligent vehicles, most of the existing autonomous overtaking systems still adopt traditional methods, that is, realize autonomous overtaking through online real-time trajectory planning and trajectory tracking. For the tra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/01G08G1/123
CPCG08G1/0125G08G1/0137G08G1/123
Inventor 吕超鲁洪良于洋王昊阳龚建伟臧政
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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