Path planning system and method for overtaking vehicle on adjacent lane in single-lane automatic drive mode

Abstract

The invention discloses a path planning system and method for overtaking a vehicle on an adjacent lane in a single-lane automatic drive mode. The system comprises a camera, a millimeter-wave radar unit, a central decision-making module and an actuating mechanism. The millimeter-wave radar unit is used for detecting whether there is a vehicle or not in the lane adjacent to the own vehicle; the camera is used for obtaining lane line information of the own vehicle, when the millimeter-wave radar unit detects that there is a vehicle ahead in the adjacent lane, the lane line information of the own vehicle is combined with the information detected by the millimeter-wave radar unit, and position information of the vehicle ahead in the adjacent lane is recognized, and the camera is connected with the millimeter-wave radar unit; the central decision-making module plans a running path according to the lane line information of the own vehicle and the position information of the vehicle ahead in the adjacent lane, and the central decision-making module is connected with the camera and the millimeter-wave radar unit; and the actuating mechanism conducts automatic driving according to the running path given by the central decision-making module and is connected with the central decision-making module. By the adoption of the system and method, traffic safety is guaranteed, and comfort is improved.

Description

technical field [0001] The invention belongs to automatic driving technology, and in particular relates to a path planning system and method for single-lane automatic driving to overtake vehicles in adjacent lanes. Background technique [0002] The principle of automatic driving on a single lane of expressway is to rely on radar and cameras to identify information such as lane lines on both sides and target vehicles in front of the lane, and transmit the identified information to the central decision-making module. The driving trajectory is planned in the middle of the two lanes, and the vehicle realizes single-lane automatic driving according to this driving trajectory. That is, the principle of path planning at this time is only based on the information of the two lanes of the current lane, and does not consider the adjacent lanes (the left and right lanes next to the current lane may only have the left lane, or only the right lane, or the left and right lanes) lane, here...

AI Technical Summary

Problems solved by technology

[0003] Since the driving trajectory is only planned according to the middle line of the lane lines on both sides of the lane, when the vehicle in the adjacent lane is too close to the lane or occupies the lane line of the lane (at this time, it cannot be recognized by the sensor as the lane If the path planning is still based on the principle of the middle line of the lane lines on both sides, in the process of overtaking the vehicle in the adjacent lane, the driver will feel dangerous because the distance to the vehicle in the adjacent lane is too close. Automatic driving The comfort of the function will be reduced, and even cause traffic accidents due to the inability to leave enough reaction time for the driver.

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