Prediction method after vehicle changes lane to front vehicle of target lane during automatic driving

Abstract

The invention discloses a prediction method after a vehicle changes a lane to a vehicle in front of a target lane in automatic driving. Acquiring driving state data of the following vehicles in the current sampling period: a pre-lane-changing vehicle, a first vehicle in front of the lane where the pre-lane-changing vehicle is located, a first vehicle located in front of the pre-lane-changing vehicle in the target lane, and a first vehicle located behind the pre-lane-changing vehicle in the target lane; calculating the willingness of the pre-lane-changing vehicle after the pre-lane-changing vehicle changes the lane to the front vehicle of the target lane according to the acquired driving state data of each vehicle and the lane environment data; and when the willingness exceeds the willingness threshold, predicting that the pre-lane-changing vehicle will change lanes to the position behind the front vehicle of the target lane at the future moment. According to the prediction method, thefactor that surrounding vehicles disturb the decision of the vehicle is effectively eliminated, and the confirmation degree of the decision of the vehicle is improved; Meanwhile, the data analysis calculation amount of a prediction module in the automatic driving system is effectively reduced, the operation difficulty and the operation cost of the automatic driving system are reduced, and the delay of decision making is effectively improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method for predicting after a vehicle changes lanes to a vehicle in front of a target lane during automatic driving. Background technique [0002] Autonomous driving includes four modules: prediction, decision-making, planning and control. The prediction module predicts whether the vehicle will change lanes in the future based on the vehicle driving status data and lane environment data of each lane, as well as the lane change trajectory in the case of lane change. Lane changing includes left lane changing and right lane changing, and left and right lane changing includes changing lanes before the vehicle in front of the target lane and after changing lanes to the vehicle in front of the target lane. The decision-making module calculates the next expected state of the vehicle according to the predicted output results of the prediction module, environmental information...

AI Technical Summary

Problems solved by technology

These interesting surrounding vehicles with low willingness to change lanes will interfere with the decision-making of the own vehicle, and will also increase the calculation amount of the data analysis of the vehicle's driving status, increasing the difficulty and cost of the automatic driving system operation

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