The invention discloses an automatic driving vehicle overtaking method considering an opposite coming vehicle in a two-way lane scene. The method comprises the following steps: 1, calculating a lane changing terminal point and a returning starting point of a vehicle; 2, judging the current area of the vehicle; 3, judging whether opposite vehicles come from adjacent lanes or not; 4, regulating and controlling the vehicle to change into an adjacent lane; 5, calculating a return position for ensuring the safety of an opposite coming vehicle; 6, judging whether the safety of the overtaken vehicle can be ensured or not; 7, overtaking or lane changing return is regulated and controlled according to the vehicle position; and 8, circulating the steps until the control time is over. According to the overtaking method considering the vehicle coming in the opposite direction, the overtaking opportunity can be explored in real time when the speed of the front vehicle on the two-way road is low, the state of the vehicle coming in the opposite direction is considered, overtaking is conducted when the safety of the vehicle coming in the opposite direction and the safety of the overtaken vehicle are met at the same time, and therefore the running efficiency of the vehicle is improved.
本发明公开了一种双向车道场景下考虑对向来车的自动驾驶车辆超车方法,包括:1、计算车辆换道的终点和返回的起点;2、判断车辆目前所处区域;3、判断相邻车道是否有对向来车;4、调控车辆换入相邻车道;5、计算与对向来车保证安全的返回位置;6、判断是否能保证与被超越车辆的安全;7、根据车辆位置调控超车或换道返回;8、循环上述步骤,直到控制时长结束。本发明提出的考虑对向来车的超车方法可在双向道路前车速度较慢时实时发掘超车机会,考虑到对向来车的状态,在同时满足与对向来车及被超越车辆的安全时进行超车,从而有助提高车辆的运行效率。
Overtaking method considering vehicle coming in opposite direction in two-way lane scene
双向车道场景下考虑对向来车的超车方法
2025-06-27
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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