CAV lane changing decision-making method for off-ramp diversion area of expressway based on automatic driving special lane deployment scene
A technology for autonomous driving and dedicated lanes, which is applied in the field of intelligent transportation and can solve the problems of unclear safety characteristics of mixed traffic flow.
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[0048] Next, the technical solutions in the embodiments of the present invention will be apparent from the embodiment of the present invention, and it is clearly described, and it is understood that the described embodiments are merely embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, there are all other embodiments obtained without making creative labor without making creative labor premises.
[0049] Lane Change Decision Making Based on autopilot lane freeway off-ramp deployment scenario shunt region CAV, comprising the steps of:
[0050] S10, constructed in the highway lane of the special autopilot CAV forced commutation channel region split off ramp scene: as figure 1 , The total number of lanes of the highway lane H, H≥4, lane farthest from the off ramp of l A Article autopilot lane (CAV-L), l A = 1,2 ... H-1; article 1 of the automatic driving lane to lane H, the l A Article automatic driving lane as the firs...
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