自动驾驶汽车的多阶段变道决策方法

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-08-03 DOI:10.1177/09544070241265401

Lei Cai, Hsin Guan, Qi Hong Xu, Xin Jia, Jun Zhan

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引用次数: 0

摘要

变道是城市和高速公路场景中的常见行为之一。因此，变道行为在自动驾驶决策中非常重要。首先，变道（LC）决策分为等待变道、超车、变道和返回原车道（RTOL）。车道变更可分为车道变更准备阶段（LCPP）、车道变更执行阶段（LCEP）1 和车道变更执行阶段（LCEP）2。通过确定 LCPP 期间的最佳纵向加速度，可进一步确定 LCPP 期间的驾驶意图。其次，提出了主机车辆（HV）选择超车、等待 LC 和选择 LC 的条件，即确定选择不同 LC 驾驶方案的方法。提出了 HV 放弃超车的条件。第三，在 LCEP 1 中提出了基于潜在冲突区域（PCA）确定主车和后车之间交互过程的做法。两车之间的交互采用动态博弈法构建。最后，VTD（虚拟试驾）模拟并验证了所提出的 LC 决策系统。

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A multi-phase lane change decision-making method for autonomous vehicles

Lane changing is one of the common behaviors in urban and highway scenarios. Therefore, lane-changing behavior is very important in autonomous driving decisions. First, lane change (LC) decisions are divided into waiting to LC, overtaking, LC, and returning to the original lane (RTOL). The LC can be divided into a lane change preparation phase (LCPP), a lane change execution phase (LCEP) 1, and a LCEP 2. The driving intention during the LCPP is further determined by determining the optimal longitudinal acceleration during the LCPP. Second, the conditions under which the host vehicle (HV) chooses to overtake, wait to LC, and choose to LC are proposed, that is, a method for determining the choice of different LC driving options. A condition is proposed for HV to give up overtaking. Third, the practice of determining the interaction process between the host and rear vehicles based on the potential conflict area (PCA) is proposed in LCEP 1. The interaction between the two cars is constructed using a dynamic game method. Finally, VTD (Virtual Test Drive) simulates and verifies the proposed LC decision system.

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.