The invention is suitable for the technical field of automatic driving, and provides a lane changing decision system and method based on logic rules. The lane condition judgment module is used for judging lane conditions; the lane changing demand judging module is used for judging a lane changing demand; the lane changing safety judgment module is used for judging lane changing safety; and the lane changing decision module is used for carrying out comprehensive decision on judgment results of lane conditions, lane changing requirements and lane changing safety. The lane changing decision model is established through the Stateflow hierarchical state machine model, it is verified through the lane changing decision model that the lane changing decision algorithm can achieve lane changing decision of the vehicle on the urban straight road, traffic accidents caused by lane changing are greatly reduced, the lane changing safety and reliability of the vehicle in the complex environment are effectively guaranteed, and the method is suitable for large-scale popularization and application. The driving pressure of a driver is relieved, and driving comfort is improved.

    本发明适用于自动驾驶技术领域,提供了一种基于逻辑规则的换道决策系统及方法,系统包括:传感器信息预处理模块;车道条件判断模块,用于判断车道条件;换道需求判断模块,用于判断换道需求;换道安全判断模块,用于判断换道安全;换道决策模块,用于对车道条件、换道需求和换道安全的判断结果进行综合决策。本发明通过Stateflow分层状态机模型建立了换道决策模型,通过此换道决策模型验证了该换道决策算法可实现车辆在城区直线道路的换道决策,大幅减少因换道导致的交通事故,有效保证车辆在复杂环境中换道的安全性、可靠性,减轻驾驶员驾驶压力,提升驾驶舒适性。


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    Title :

    Lane changing decision-making system and method based on logic rules


    Additional title:

    一种基于逻辑规则的换道决策系统及方法


    Contributors:
    LI JIANHUA (author) / LIU JIAXIN (author) / LIU JUNYI (author) / JIN LIQIANG (author) / ZHANG HAN (author)

    Publication date :

    2023-06-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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