Vehicle lane changing method and device based on artificial potential field method

• Main Authors: LI XINGJIA, CAI LISONG, YANG XIANGDONG, ZUO SHUAI, TIAN XIANGYUAN
• Format: Patent
• Language: Chinese; English
• Published: 22.10.2021
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention belongs to the technical field of automatic driving, and particularly relates to a vehicle lane changing method and device based on an artificial potential field method. The method comprises the steps that firstly, information of each obstacle on a pre-driving road is acquired, wherein the information of the obstacle comprises the speed and the position of the obstacle; then, at least one detection point is arranged in a set detection range in the vehicle driving direction on each pre-driving road, a static potential field and an obstacle dynamic potential field corresponding to each detection point are determined, and the static potential field comprises a road static potential field and/or an obstacle static potential field; then a comprehensive potential field of each pre-driving road is determined according to the static potential field and the barrier dynamic potential field corresponding to all the detection points of each pre-driving road; and finally, lane changing control is carried out