PREDICTION METHOD IN AUTOMATIC DRIVING FOR PERFORMING LANE CHANGE TO OVERTAKE LEADING VEHICLE IN TARGET LANE

摘要

Disclosed is a prediction method in automatic driving for performing lane change to overtake a leading vehicle in a target lane. Said method comprises: acquiring driving state data, in a current sampling period, of a vehicle preparing to perform lane change, a vehicle I, a vehicle II and a vehicle III, the vehicle I being the vehicle just in front of the vehicle preparing to perform lane change in the current lane of the vehicle preparing to perform lane change, and the vehicle II and the vehicle III being respectively the first nearest vehicle and the second nearest vehicle in front of the vehicle preparing to perform lane change in a target lane; calculating, by using the driving state data of the vehicles, the willingness to perform lane change of the vehicle preparing to perform lane change to overtake the vehicle II; and when the willingness exceeds a willingness threshold, predicting that the vehicle preparing to perform lane change will perform lane change to overtake the vehicle II at a future time. In the present invention, the prediction method in automatic driving for performing lane change to overtake a leading vehicle in a target lane effectively excludes factors of surrounding vehicles interfering with a vehicle's decision making, improves the decision certainty of the vehicle, effectively reduces the data analysis and calculation amount of a prediction module in an automatic driving system, reduces the operation difficulty and operation costs of the automatic driving system, and effectively improves the lag and delay of decision making.