Methods, systems, and vehicles for performing lane changes for a host vehicle are provided in accordance with the present disclosure. In various embodiments, a method includes receiving, by a processor, an indication of a lane change desired by a host vehicle from an initial lane to an expected lane; defining, by the processor, an initial lane center target, a negotiation target, and an expected lane center target based on the desired lane change; and controlling, by the processor, the host vehicle to at least one of an initial lane center target, a negotiation target, and an expected lane center target based on the finite state machine, where the initial lane center target is at or near a determined center of the initial lane, where the expected lane center target is at or near a determined center of the expected lane, and wherein the negotiation target deviates from the initial lane center target and is within the initial lane.
根据本公开内容提供了用于执行主车辆的车道变换的方法、系统和车辆。在各种实施例中,一种方法包括:由处理器接收主车辆所期望的从初始车道到预期车道的车道变换的指示;由处理器基于期望的车道变换来定义初始车道中心目标、协商目标和预期车道中心目标;和由处理器基于有限状态机将主车辆控制到初始车道中心目标、协商目标和预期车道中心目标中的至少一个,其中初始车道中心目标在初始车道的确定的中心处或附近,其中预期车道中心目标在预期车道的确定的中心处或附近,并且其中协商目标偏离初始车道中心目标并且在初始车道内。
Lane change negotiation method and system
车道变换协商方法和系统
2023-02-03
Patent
Electronic Resource
Chinese
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 |