The invention discloses a method for predicting a vehicle lane changing intention based on a composite model. The method comprises the following steps: acquiring speed information and position information of a vehicle and surrounding vehicles; the vehicle and surrounding vehicles are arranged in the same coordinate system, and trajectory information of all target vehicles forms a training set A; establishing three hidden Markov models, namely a leftward lane changing model, a lane keeping model and a rightward lane changing model; inputting the training set A into the three models for preliminary prediction, and respectively outputting corresponding probabilities; combining the longitudinal distance between the neighbor vehicle and the corresponding target vehicle with the corresponding probability to form a training set B, then inputting the training set B into the multilayer perceptron model, and taking the real lane changing intention corresponding to the target vehicle as a label to complete the training of the multilayer perceptron model so as to obtain a training model; and acquiring speed information and position information of the target vehicle and the neighbor vehicle in real time, and inputting the information into the training model to predict the lane changing intention of the vehicle so as to output the lane changing intention of the target vehicle.
本发明公开了一种基于复合模型的车辆换道意图的预测方法,包括:采集本车和周边车辆的速度信息和位置信息;将本车和周边车辆布置到同一坐标系中,所有目标车辆的轨迹信息构成训练集A;建立三个隐马尔可夫模型,分别为向左换道模型,车道保持模型,向右换道模型;训练集A输入三个模型中进行初步预测,分别输出与之对应的概率;将邻居车辆与对应目标车辆的纵向距离和对应的概率结合形成训练集B,然后将训练集B输入多层感知机模型中,以目标车辆对应的真实换道意图作为标签,完成多层感知机模型的训练,以得到训练模型;实时采集目标车辆以及邻居车辆的速度信息和位置信息,输入训练模型中进行车辆换道意图的预测,从而输出目标车辆换道意图。
Prediction method of vehicle lane changing intention based on composite model
一种基于复合模型的车辆换道意图的预测方法
2022-06-07
Patent
Elektronische Ressource
Chinesisch
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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