Sectional navigation lane changing method and system, computer equipment and storage medium

Abstract

The invention relates to a sectional navigation lane changing method and system, computer equipment and a storage medium, and the method comprises the steps: employing an LSTM network to judge whether an adjacent target lane meets a lane changing condition or not according to the speed of a vehicle at the current moment, the speed difference and distance between the vehicle and surrounding vehicles, and other information, and if not, continuing to collect related information and inputting the related information into the LSTM network; if so, acquiring a lane center line of the adjacent target lane, selecting a plurality of points on the lane center line, and acquiring position information of the plurality of points; acquiring distance information between the vehicle and the lane center line; inputting the position information of the plurality of points and the distance information between the vehicle and the lane center line into a CNN network for convolution calculation to obtain a target steering wheel angle; and finally, sending the target steering wheel angle to an automatic driving control unit of the vehicle to drive the automatic driving control unit to control the vehicle to change lanes according to the steering wheel angle. According to the invention, the lane changing process is more intelligent and accords with human driving habits.

Description

technical field [0001] The invention relates to the technical field of vehicle driving, in particular to a segmented navigation lane change method and system thereof, computer equipment, and a storage medium. Background technique [0002] In the field of autonomous driving, usually the entire lane changing process can be divided into three stages: lane changing intention, lane changing decision, and lane changing trajectory. Lane-changing intentions can be divided into free lane-changing and forced lane-changing. Among them, free lane changing is often to actively avoid dynamic obstacles (usually vehicles) in front for better driving speed or driving conditions; while forced lane changing refers to vehicles driving on the road, which are not affected by human subjective intentions. Lane changes that must occur, such as stationary obstacles ahead, intersection navigation requests to change lanes, etc. [0003] At present, most of the lane changing methods are based on rules...

AI Technical Summary

Problems solved by technology

In addition, some technical solutions are end-to-end lane change methods, that is, from the sensing end directly to the control end, and the control end makes lane change decisions and executions based on the perception information, but the link of this end-to-end lane change method is too long , changing lanes is an extremely complicated process, and it is difficult to guarantee the effect of changing lanes

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