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Coordination control method for lane changing of automatic driving vehicle on congested road section

A technology of automatic driving and coordinated control, applied in the direction of control devices, vehicle components, external condition input parameters, etc., can solve the problems of unpredictable direction and speed change monitoring of surrounding vehicles, low efficiency of lane change, difficult lane change, etc., to achieve safety Efficient steering, improved accuracy, and the effect of avoiding data redundancy

Pending Publication Date: 2022-05-13
XIHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the face of congested road sections, the temporary lane change by automatic driving is difficult to predict the direction and speed change monitoring of surrounding vehicles, difficult to change lanes, and low efficiency of lane change.

Method used

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  • Coordination control method for lane changing of automatic driving vehicle on congested road section
  • Coordination control method for lane changing of automatic driving vehicle on congested road section
  • Coordination control method for lane changing of automatic driving vehicle on congested road section

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Embodiment

[0044] The present application discloses a coordinated control method for lane change of an automatic driving vehicle on a congested road section, which is applied to an automatic driving system and provides a manual driving switching mode in advance.

[0045] First of all, in the lane change coordination control system for automatic driving in this application, the conditions for automatic driving lane change include non-congested road section lane change and congested road section lane change, and the non-congested road section lane change is judged by the automatic driving assistance system and automatically executes the operation; When changing lanes on congested roads, the automatic driving assistance system sends a request to change lanes in congested areas and enters the lane-changing mode after receiving instructions.

[0046] When an automatic driving vehicle enters a congested road section to change lanes, it will be applicable to the coordinated control method for la...

no. 2 example

[0074] A lane-changing coordinated control method for an automatic driving vehicle in a congested road section, comprising the following steps:

[0075] Step 1, obtain road section congestion status information, activate road planning and lane change coordination requests;

[0076] In the embodiment of the present application, the acquisition of road section congestion state information adopts the front control camera and the radar system on the front side to detect the speed of the vehicle in front, within 20s, the average vehicle speed is less than or equal to 5km / h, and the braking occurs 2- 3 times, and it is still in the variable lane area after the detection time is over, then enter the congested road section;

[0077] And the automatic driving assistance system will acquire and analyze and issue a request to change lanes.

[0078] Step 2: Execute the lane change control command, turn on the turn signal, and enter the driving mode switching state;

[0079] In the embod...

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Abstract

The invention discloses a lane changing coordination control method for an automatic driving vehicle on a congested road section, and belongs to the technical field of automatic driving coordination control. A lane changing coordination control method for an automatic driving vehicle on a congested road section is characterized by comprising the following steps: acquiring road section congestion state information, and activating a road planning and lane changing coordination request; executing the lane changing control instruction, turning on a steering lamp, and entering a driving mode switching state; changing lanes by adopting an automatic driving mode, monitoring front and rear vehicle states, identifying adjacent lane and rear vehicle states, carrying out lane changing early warning, and entering a pre-steering state; and controlling the vehicle to enter the predetermined lane.

Description

technical field [0001] The invention relates to the technical field of coordinated control of automatic driving, in particular to a coordinated control method for lane change of an automatic driving vehicle on a congested road section. Background technique [0002] Lane changing is a very common situation in the driving process. For example, you need to change into the fast lane on the left or the slow lane on the right, and you need to overtake from the left; you need to change into a lane in a specific direction before an intersection. As the basic function of future driverless cars, automatic lane change includes many important links such as environment perception, lane change decision-making, trajectory planning and trajectory tracking. The self-driving car will recognize and obtain the information of surrounding vehicles when changing lanes, so as to maintain a safe lane change. However, in the face of congested road sections, the temporary lane change by automatic dri...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W30/18
CPCB60W60/001B60W30/18163B60W2554/80B60W2554/4042B60W2420/408B60W2420/403
Inventor 方嘉陈子龙
Owner XIHUA UNIV
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