CN114566065A - 一种基于车路协同的多车协作式变道方法 - Google Patents
一种基于车路协同的多车协作式变道方法 Download PDFInfo
- Publication number
- CN114566065A CN114566065A CN202210210270.XA CN202210210270A CN114566065A CN 114566065 A CN114566065 A CN 114566065A CN 202210210270 A CN202210210270 A CN 202210210270A CN 114566065 A CN114566065 A CN 114566065A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- target
- decision
- changing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000008859 change Effects 0.000 claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000036461 convulsion Effects 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 14
- 230000006870 function Effects 0.000 claims description 11
- 238000011156 evaluation Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 230000008030 elimination Effects 0.000 claims description 4
- 238000003379 elimination reaction Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 230000007774 longterm Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 3
- 238000012508 change request Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210210270.XA CN114566065B (zh) | 2022-03-04 | 2022-03-04 | 一种基于车路协同的多车协作式变道方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210210270.XA CN114566065B (zh) | 2022-03-04 | 2022-03-04 | 一种基于车路协同的多车协作式变道方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114566065A true CN114566065A (zh) | 2022-05-31 |
CN114566065B CN114566065B (zh) | 2024-02-27 |
Family
ID=81716907
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210210270.XA Active CN114566065B (zh) | 2022-03-04 | 2022-03-04 | 一种基于车路协同的多车协作式变道方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114566065B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114999229A (zh) * | 2022-08-02 | 2022-09-02 | 联友智连科技有限公司 | 车辆变道的方法、系统及可读存储介质 |
CN115571165A (zh) * | 2022-12-09 | 2023-01-06 | 广汽埃安新能源汽车股份有限公司 | 车辆控制方法、装置、电子设备和计算机可读介质 |
WO2024016733A1 (zh) * | 2022-07-21 | 2024-01-25 | 智道网联科技(北京)有限公司 | 车辆变道方法、装置及电子设备、存储介质 |
CN117681878A (zh) * | 2024-02-04 | 2024-03-12 | 西南交通大学 | 一种编队感知的智能网联汽车协同变道方法 |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009033800A1 (de) * | 2009-07-18 | 2010-03-25 | Daimler Ag | Verfahren zur Unterstützung eines Fahrers bei der Vorbereitung eines Fahrspurwechsels |
CN106940933A (zh) * | 2017-03-08 | 2017-07-11 | 北京理工大学 | 一种基于智能交通系统的智能车辆决策换道方法 |
CN108313054A (zh) * | 2018-01-05 | 2018-07-24 | 北京智行者科技有限公司 | 自动驾驶自主换道决策方法和装置及自动驾驶车辆 |
CN108919795A (zh) * | 2018-06-01 | 2018-11-30 | 中国北方车辆研究所 | 一种自动驾驶汽车换道决策方法及装置 |
CN109035862A (zh) * | 2018-08-06 | 2018-12-18 | 清华大学 | 一种基于车车通信的多车协同换道控制方法 |
CN110362910A (zh) * | 2019-07-05 | 2019-10-22 | 西南交通大学 | 基于博弈论的自动驾驶车辆换道冲突协调模型建立方法 |
CN111081065A (zh) * | 2019-12-13 | 2020-04-28 | 北京理工大学 | 路段混行条件下的智能车辆协同换道决策模型 |
CN112040392A (zh) * | 2020-08-03 | 2020-12-04 | 南京航空航天大学 | 一种基于车车通信的多车协同换道控制系统及方法 |
CN112289076A (zh) * | 2020-10-30 | 2021-01-29 | 长安大学 | 双车道智能网联车协同换道方法、装置、设备及存储介质 |
CN112907967A (zh) * | 2021-01-29 | 2021-06-04 | 吉林大学 | 一种基于不完全信息博弈的智能车换道决策方法 |
CN113291324A (zh) * | 2021-06-25 | 2021-08-24 | 的卢技术有限公司 | 一种智能汽车个性化换道决策方法、系统及介质 |
US20210370946A1 (en) * | 2018-02-20 | 2021-12-02 | Nissan Motor Co., Ltd. | Automated lane change control method and automated lane change control device |
-
2022
- 2022-03-04 CN CN202210210270.XA patent/CN114566065B/zh active Active
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009033800A1 (de) * | 2009-07-18 | 2010-03-25 | Daimler Ag | Verfahren zur Unterstützung eines Fahrers bei der Vorbereitung eines Fahrspurwechsels |
CN106940933A (zh) * | 2017-03-08 | 2017-07-11 | 北京理工大学 | 一种基于智能交通系统的智能车辆决策换道方法 |
CN108313054A (zh) * | 2018-01-05 | 2018-07-24 | 北京智行者科技有限公司 | 自动驾驶自主换道决策方法和装置及自动驾驶车辆 |
US20210370946A1 (en) * | 2018-02-20 | 2021-12-02 | Nissan Motor Co., Ltd. | Automated lane change control method and automated lane change control device |
CN108919795A (zh) * | 2018-06-01 | 2018-11-30 | 中国北方车辆研究所 | 一种自动驾驶汽车换道决策方法及装置 |
CN109035862A (zh) * | 2018-08-06 | 2018-12-18 | 清华大学 | 一种基于车车通信的多车协同换道控制方法 |
CN110362910A (zh) * | 2019-07-05 | 2019-10-22 | 西南交通大学 | 基于博弈论的自动驾驶车辆换道冲突协调模型建立方法 |
CN111081065A (zh) * | 2019-12-13 | 2020-04-28 | 北京理工大学 | 路段混行条件下的智能车辆协同换道决策模型 |
CN112040392A (zh) * | 2020-08-03 | 2020-12-04 | 南京航空航天大学 | 一种基于车车通信的多车协同换道控制系统及方法 |
CN112289076A (zh) * | 2020-10-30 | 2021-01-29 | 长安大学 | 双车道智能网联车协同换道方法、装置、设备及存储介质 |
CN112907967A (zh) * | 2021-01-29 | 2021-06-04 | 吉林大学 | 一种基于不完全信息博弈的智能车换道决策方法 |
CN113291324A (zh) * | 2021-06-25 | 2021-08-24 | 的卢技术有限公司 | 一种智能汽车个性化换道决策方法、系统及介质 |
Non-Patent Citations (4)
Title |
---|
LEE H.ETC: "Predictive Risk Assessment Using Cooperation Concept for Collision Avoidance of Side Crash in Autonomous Lane Change Systems", 《2017 17TH INTERNATION CONFERENCE ON CONTROL,AUTOMATION AND SYSTEMS》, pages 47 - 52 * |
徐佳晨 等: "基于横向稳定的减速变道轨迹与跟踪控制", 《公路交通科技》, vol. 39, no. 2, pages 183 - 190 * |
王鲲 等: "面向高等级自动驾驶的车路协同关键技术", 《移动通信》, vol. 45, no. 6, pages 69 - 76 * |
陈吉清 等: "智能车辆换道潜在冲突分析与风险量化方法", 《汽车工程》, vol. 43, no. 11, pages 1565 - 1576 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024016733A1 (zh) * | 2022-07-21 | 2024-01-25 | 智道网联科技(北京)有限公司 | 车辆变道方法、装置及电子设备、存储介质 |
CN114999229A (zh) * | 2022-08-02 | 2022-09-02 | 联友智连科技有限公司 | 车辆变道的方法、系统及可读存储介质 |
CN115571165A (zh) * | 2022-12-09 | 2023-01-06 | 广汽埃安新能源汽车股份有限公司 | 车辆控制方法、装置、电子设备和计算机可读介质 |
CN117681878A (zh) * | 2024-02-04 | 2024-03-12 | 西南交通大学 | 一种编队感知的智能网联汽车协同变道方法 |
CN117681878B (zh) * | 2024-02-04 | 2024-04-16 | 西南交通大学 | 一种编队感知的智能网联汽车协同变道方法 |
Also Published As
Publication number | Publication date |
---|---|
CN114566065B (zh) | 2024-02-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN114566065A (zh) | 一种基于车路协同的多车协作式变道方法 | |
CN111976741B (zh) | 用于控制自动驾驶车辆的装置和方法 | |
US10877482B2 (en) | Trajectory setting device and trajectory setting method | |
CN110488802B (zh) | 一种网联环境下的自动驾驶车辆动态行为决策方法 | |
DE102018129197B4 (de) | Verkehrssignalerkennungsvorrichtung und System zum autonomen Fahren | |
JP6600892B2 (ja) | 車両制御装置、車両制御方法、および車両制御プログラム | |
US9910157B2 (en) | Vehicle and lane detection method for the vehicle | |
US11801867B2 (en) | Vehicle control device and vehicle control method | |
US20200238980A1 (en) | Vehicle control device | |
US20200353918A1 (en) | Vehicle control device | |
DE102016109592A1 (de) | Kollisionsabschwächung und -vermeidung | |
CN102132335A (zh) | 行驶环境识别装置 | |
Kim et al. | Automated complex urban driving based on enhanced environment representation with GPS/map, radar, lidar and vision | |
US8311719B2 (en) | Vehicle operation diagnosis device, vehicle operation diagnosis method, and computer program | |
US11661061B2 (en) | Method and device for assisting a driver in a vehicle | |
US20230143805A1 (en) | Control device, control method, and control program product | |
EP3666612A1 (en) | Vehicle control device | |
JP2020032809A (ja) | 自動運転システム | |
DE102020113421B4 (de) | Vorrichtung und verfahren zum autonomen fahren | |
DE102021103149A1 (de) | Verfahren und vorrichtung zur bestimmung der optimalen kreuzungsspur in einem unterstützten fahrsystem | |
CN112440989B (zh) | 车辆控制系统 | |
CN117015493A (zh) | 自动紧急制动系统 | |
US10926760B2 (en) | Information processing device, information processing method, and computer program product | |
CN114782912A (zh) | 障碍物风险场环境建模方法及其装置、相关产品 | |
JP2021160714A (ja) | 車両制御装置および車両制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20230407 Address after: 215000 room 808, 8 / F, building 9a, launch area of Yangtze River Delta International R & D community, No. 286, qinglonggang Road, high speed rail new town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant after: Tianyi Transportation Technology Co.,Ltd. Address before: 215133 station 601-b11, Tiancheng information building, No. 88, nantiancheng Road, Xiangcheng District, Suzhou City, Jiangsu Province (cluster registration) Applicant before: Zhongzhixing (Suzhou) Technology Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant |