The invention provides an automatic lane changing method, system and device and a storage medium, and relates to the technical field of vehicle driving. According to the method, after vehicle state information including a target distance and vehicle driving information is obtained based on vehicle-road communication V2I in an information acquisition unit, when it is detected that the target distance is larger than a preset safety distance, a lane changing polynomial which meets a road boundary constraint condition and is used for representing a transverse lane changing track of a vehicle is obtained; the longitudinal lane changing track of the vehicle is represented through a displacement functional expression, after a lane changing time target function is obtained according to a lane changing polynomial and vehicle driving information, the optimal lane changing time is obtained according to the lane changing time target function meeting a preset constraint condition, and the optimal lane changing time is obtained on the basis of the optimal lane changing time. And a control signal is generated according to the target vehicle lane changing track confirmed by the lane changing polynomial and the displacement function expression, and is sent to the execution mechanism to realize automatic lane changing of the vehicle, so that the requirements of high real-time performance and reliability of the automatic driving vehicle are met.
本申请提供一种自动换道方法、系统、设备及存储介质,涉及车辆驾驶技术领域。该方法基于信息采集单元中的车路通信V2I获取包括目标距离和车辆行驶信息的车辆状态信息后,在检测到目标距离大于预设安全距离时,获取满足道路边界约束条件的用于表征车辆横向换道轨迹的换道多项式,并通过位移函数式表征车辆纵向换道轨迹,根据换道多项式和车辆行驶信息获取换道时间目标函数后,根据满足预设约束条件的换道时间目标函数获取最优换道时间,基于最优换道时间,根据换道多项式和位移函数式确认的目标车辆换道轨迹生成控制信号,并发送至执行机构,以实现车辆的自动换道,从而满足了自动驾驶车辆高实时性和可靠性的要求。
Automatic lane changing method, system and equipment and storage medium
自动换道方法、系统、设备及存储介质
2024-01-16
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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