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Lane changing method, device and storage medium for unmanned vehicles

An unmanned vehicle and lane-changing technology, which is applied in the direction of measuring devices, reasoning methods, control devices, etc., can solve problems such as driving, unmanned vehicles cannot be guaranteed, and the planned driving route cannot be followed, so as to reduce the probability of failure.

Active Publication Date: 2021-11-30
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the actual road condition scenario, if the target lane for lane change is blocked, it is impossible to drive according to the planned driving route
Therefore, only relying on the guidance of the planned driving route cannot guarantee the safe and smooth lane change of the unmanned vehicle

Method used

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  • Lane changing method, device and storage medium for unmanned vehicles
  • Lane changing method, device and storage medium for unmanned vehicles
  • Lane changing method, device and storage medium for unmanned vehicles

Examples

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Embodiment Construction

[0109] In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0110] figure 1 It is a flowchart of a lane changing method for an unmanned vehicle provided by an embodiment of the present invention. Such as figure 1 As shown, the lane changing method of the unmanned vehicle of the embodiment of the present invention includes:

[0111] Step S11, based on the driving intention of the host vehicle, determine the candidate lane for lane change;

[0112] Step S12, based on the lane change conditions of each of the candidate lanes, screening the candidate lanes;

[0113] Step S13, selecting a target lane for the host vehicle to perform a lane change from the screened can...

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Abstract

Embodiments of the present invention provide a lane changing method, device, and computer-readable storage medium for an unmanned vehicle. Wherein the lane-changing method of the unmanned vehicle comprises: based on the driving intention of the main vehicle, determining the candidate lanes to perform lane-changing; based on the lane-changing conditions of each of the candidate lanes, screening the candidate lanes; Selecting the target lane for the host vehicle to change lanes from the candidate lanes; judging whether it is safe for the host vehicle to change lanes from the current lane to the target lane; if the judgment result is safe, execute the lane change. The embodiment of the present invention makes a comprehensive judgment based on information such as lane change conditions to give a safe and reasonable lane change decision. The most suitable lane can be selected, and the lane change can be performed at a safe moment, which greatly reduces the probability of failure and ensures no accidents. People and vehicles execute lane changes safely and smoothly.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to a lane changing method, device and computer-readable storage medium for unmanned vehicles. Background technique [0002] The unmanned vehicle system in the prior art uses the planning module to plan the driving route, for example, in the planned driving route, when driving to a certain position in the current lane, the driver should drive in a lane. However, planning a driving route usually only plans where a lane change needs to be made according to the driving destination, and does not make a comprehensive judgment based on road conditions and other information to give a safe and reasonable lane change decision. In an actual road condition scenario, if the target lane for changing lanes is blocked, it is impossible to drive according to the planned driving route. Therefore, only relying on the guidance of the planned driving route cannot guarantee the safe and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/16
CPCB60W30/18163B60W60/0011G08G1/167G01C21/3407B60W40/06B60W50/10B60W60/0015B60W30/08B60W40/105G06N20/00B60W2552/50B60W2554/802B60W2720/10B60W30/12B60W2554/801B60W2050/0022B60W2050/0005G05D1/0088G05D1/0214B60W2554/4041B60W2554/804B60W2554/4042B60W50/00G06N5/04
Inventor 李洪业张宽唐怀珠
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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