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Lane decision-making method and related device
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A decision-making method and lane technology, applied in the field of driving, can solve the problems of not considering the influence of various factors, insufficient safety of automatic driving lane change, and lane selection not conforming to the driver's decision-making habits, etc., to achieve the effect of improving safety.
Pending Publication Date: 2022-05-17
SAIC MOTOR
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Problems solved by technology
[0004] However, in the existing lane selection strategy in the existing technology, the behavior selection of the lane keeping and lane changing of the controlled vehicle for automatic driving does not consider the influence of various factors on the actual road on the lane change, so that the automatic driving lane change is not safe enough, and the lane selection does not conform to the driver's decision-making habits
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no. 1 example
[0073] see figure 1 , which is a flowchart of a lane decision-making method provided in an embodiment of the present application.
[0074] figure 1 The shown method may be executed by a controller or processor capable of data processing, or may be executed by a device including the foregoing controller or processor, such as a terminal device and a server. The embodiment of the present application does not specifically limit the execution subject of the method.
[0075] In this example, figure 1 The shown method can be implemented, for example, through the following steps S101-S102.
[0076] S101: According to the dissatisfaction value of each candidate lane, it is judged whether there is a lane change intention generated.
[0077] It should be noted that the dissatisfaction value of each candidate lane indicates the driver's satisfaction with the lane. The higher the dissatisfaction value of the lane, the lower the driver's satisfaction with the lane. In the embodiment o...
Embodiment approach
[0227] As a possible implementation, when the following three conditions are met, the safety analysis result of the lane change of the adjacent lane is qualified;
[0228] The first condition: the relative distance between the vehicle in front of the current lane and the own vehicle conforms to the first lane-changing safety distance model;
[0229] The second condition: the relative distance between the vehicle in front of the adjacent lane and the vehicle conforms to the second lane-changing safety distance model;
[0230] The third condition: the relative distance between the vehicle behind in the adjacent lane and the own vehicle conforms to the third lane-changing safety distance model.
[0231] As a possible implementation, when the following three conditions are met, the safety analysis result of the adjacent lane is qualified, including:
[0232] The lane change safety analysis is continued within the lane change warning duration. If the first condition, the second co...
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Abstract
The invention discloses a lane decision-making method and a related device. The method comprises the following steps: judging whether a lane changing intention is generated or not according to a disfullness value of each candidate lane; if not, determining the current lane of the vehicle as a target lane; if yes, lane changing safety analysis is carried out on all the candidate lanes based on a lane changing safety distance model, and a target lane is determined from all the candidate lanes according to a lane changing safety analysis result; each candidate lane comprises a current lane and an adjacent lane of the current lane. Therefore, according to the lane decision-making method provided by the invention, the lane changing intention and the lane changing safety are analyzed, the influence of various factors on lane changing in practical application is considered, the lane changing safety of automatic driving is improved, and the method is more in line with the habits of drivers.
Description
technical field [0001] The present application relates to the technical field of driving, in particular to a lane decision method and related devices. Background technique [0002] With the development of automatic driving technology, higher requirements are put forward for the lane selection in the process of driving. According to the SAE J3016 standard revised by SAE International (Society of Automotive Engineers), it divides automatic driving technology into six levels of L0-L5, which are no automation, driving assistance, partial automation, conditional automation, Highly automated and fully automated. [0003] Currently, structured closed roads such as expressways and urban elevated roads allow only motor vehicles to pass, and the up and down roads are physically separated. Therefore, in a structured road, a single direction often contains two or more lanes, so the movement of the controlled vehicle in autonomous driving can be summarized as two behaviors: lane keepin...
Claims
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Application Information
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