Lane Change Trajectory Construction for Dense Traffic Simulation
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Solution Overview
Problem
Current automated driving simulation systems fail to accurately simulate vehicle lane changes in heavy traffic or fractious driver scenarios, as they do not account for interference from preceding or following vehicles, leading to unrealistic simulation results that lack practical applicability.
Innovation Solution
A method and apparatus for constructing a simulated vehicle lane change trajectory using a lane change trajectory coordinate system, determining target preceding vehicles, and adjusting longitudinal and transverse traveling data based on the speeds and positions of surrounding vehicles to reflect real-world lane change conditions, including deceleration and acceleration adjustments to ensure safe lane changes or original lane returns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a vehicle completes lane change at one time without considering interference from surrounding vehicles, then the lane change process is simple and fast, but the simulation result is unrealistic and unsafe in heavy traffic or fractious driver scenarios
Solution Approach 1:
The patent applies dynamics by making the lane change process adjustable and adaptive rather than fixed. The system dynamically adjusts the lane change trajectory based on real-time detection of surrounding vehicles and their behaviors. When interference is detected (e.g., following vehicle accelerating), the system dynamically modifies the lane change parameters to pause or abort the maneuver, creating a realistic simulation that adapts to changing traffic conditions while maintaining safety.
2Reliability
If the lane change simulation considers interference from surrounding vehicles and adjusts trajectory accordingly, then the simulation realism is improved, but the computational complexity and processing time increase
Solution Approach 1:
The patent applies segmentation by dividing the lane change simulation into distinct phases: initial lane change trajectory construction, interference detection phase, and trajectory adjustment phase. The system segments the surrounding vehicles into different roles (preceding vehicle, following vehicle) and applies different detection and response strategies for each. This modular approach reduces computational complexity by processing only relevant interference scenarios rather than all possible vehicle interactions simultaneously.
Solution Approach 2:
The patent applies preliminary action by pre-defining interference detection criteria and response strategies before the lane change simulation begins. The system pre-establishes rules for detecting when a following vehicle is accelerating or when a preceding vehicle is decelerating, and pre-prepares alternative trajectory options. This preliminary preparation reduces real-time computational burden during the actual lane change simulation, maintaining high realism without excessive processing complexity.
3Reliability
If the system detects and responds to following vehicle acceleration by adjusting longitudinal speed, then the safety is improved, but the lane change time increases
Solution Approach 1:
The patent applies preliminary anti-action by detecting the acceleration intent of the following vehicle before the lane change is fully executed, and taking preventive measures by adjusting the lane change trajectory. The system monitors the following vehicle's acceleration in advance and prepares countermeasures (pausing or aborting lane change) before a conflict occurs. This proactive approach ensures safety by preventing potential collisions while minimizing the time lost, as the system only delays the lane change when necessary rather than repeatedly adjusting during the maneuver.
Data Source
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AI summary
Disclosed are a method, apparatus and device for constructing a simulated vehicle lane change trajectory. The method comprises: constructing a lane change trajectory coordinate system, and determining, according to a position of a target lane change vehicle, a target front vehicle; determining, according to longitudinal speeds of the target lane change vehicle and the target front vehicle in a lane change process and a distance between the target front vehicle and the target lane change vehicle, target longitudinal travelling data; determining, according to preset initial transverse travelling data, preset end transverse travelling data and a preset lane change time in the lane change process, target transverse travelling data; when a preset lane change condition is met, or, when the preset lane change condition is not met and it is determined to continue changing lanes, if a rear vehicle decelerates, constructing a first lane change trajectory; when the preset lane change condition is not met and it is determined to continue changing lanes, if the rear vehicle does not decelerate, updating the longitudinal travelling data; and constructing a second lane change trajectory. When the preset lane change condition is not met and it is determined not to continue changing lanes, updating and retrieving the transverse travelling data and the longitudinal travelling data in the original lane change process, and constructing a first retrieved original lane trajectory.