Intelligent driving vehicle behavior prediction method based on driving road self-adaptive updating threshold value
Intelligent driving vehicle behavior prediction method based on driving road self-adaptive updating threshold value
- New search for: LIN XINYOU
- New search for: ZHANG BIAO
- New search for: YE ZHUOMING
- New search for: CHEN QIANLIAN
- New search for: CHEN XIANKANG
- New search for: LIN XINYOU
- New search for: ZHANG BIAO
- New search for: YE ZHUOMING
- New search for: CHEN QIANLIAN
- New search for: CHEN XIANKANG
The invention provides an intelligent driving vehicle behavior prediction method based on a driving road adaptive update threshold value. The method comprises the following steps: acquiring a road structure entity in a current driving environment based on a vehicle sensing system; a target vehicle is screened out from the self-vehicle sensing range; based on the selected target vehicle, selecting surrounding interactive vehicles; inputting target vehicle driving state information and surrounding environment information to the vehicle behavior prediction model to obtain a probability matrix of each behavior action; and according to the information of the interactive vehicles around the target vehicle, calculating the collision time TTC and the braking time TTB for evaluating the traffic condition of each lane. And updating a definite threshold correction coefficient of each behavior action according to an evaluation result, and outputting a corrected predicted behavior result. The method can optimize the selection of the target vehicle and the interaction vehicle in combination with the surrounding changing road environment, adaptively updates the confirmation threshold, and improves the accuracy of vehicle behavior prediction.
本发明提出一种基于行驶道路自适应更新阈值的智能驾驶车辆行为预测方法，基于车辆感知系统获取当前驾驶环境中的道路结构实体；从自车感知范围内筛选出目标车辆；基于选定的目标车辆，选取周边交互车辆；输入目标车辆行驶状态信息以及周围环境信息到车辆行为预测模型，获得各个行为动作的概率矩阵；根据目标车辆周围交互车辆信息，计算碰撞时间TTC和制动时间TTB用于评估各车道交通状况。根据评估结果更新各个行为动作的确信阈值修正系数，并输出修正后的预测行为结果。本发明能够结合周围变化的道路环境，优化目标车辆以及交互车辆的选择，自适应更新确信阈值，提高车辆行为预测的精确性。
Document information
Intelligent driving vehicle behavior prediction method based on driving road self-adaptive updating threshold value
基于行驶道路自适应更新阈值的智能驾驶车辆行为预测方法
2022-10-14
Patent
Electronic Resource
Chinese
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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| European Patent Office | 2022