The invention belongs to the technical field of automobiles, and particularly relates to an anthropomorphic lane changing decision-making method. Comprising the following steps: 1, selecting an optimal lane; 2, if the lane changing intention is generated, selecting one of three behaviors of waiting for lane changing, overtaking and lane changing, and generating the path and speed of the main vehicle according to the state of the vehicle; and 3, evaluating an income index, wherein the income comprises a speed income and a safety income. According to the method, the lane changing process is divided into a lane changing execution stage 1, a lane changing execution stage 2 and a lane changing preparation stage, driving schemes of overtaking and waiting for lane changing are considered into a lane changing decision-making system, different driving schemes are provided for automatic driving lane changing, the lane changing opportunity determining process is determined in an event triggering mode, and the lane changing opportunity determining efficiency is improved. And finally, by determining a potential conflict area, a dynamic game model is established between the vehicle and a rear vehicle, and safe and efficient interaction between the two vehicles is ensured.
本发明属于汽车技术领域,具体的说是一种拟人化的换道决策方法。包括:一、对最优的车道进行选择;二、若产生换道意图,则选择等待换道、超车以及换道的三种行为的其中一种,并且根据车辆所处的状态生成主车的路径和速度;三、对收益指标进行评价,所述收益包括速度收益和安全性收益。本发明将换道过程分为了换道执行阶段1、2和换道准备阶段,并且将超车与等待换道的驾驶方案考虑进入到换道的决策系统中,为自动驾驶换道提供不同的驾驶方案,将换道的时机的确定过程通过事件触发的方式进行确定,最后通过潜在冲突区域的确定,与后车之间建立动态博弈模型,保证了两车之间相互作用的安全高效的进行。
Personified lane changing decision-making method
一种拟人化的换道决策方法
2023-05-23
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 |
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