The invention discloses a lane changing process extraction and lane changing characteristic analysis method based on an unsupervised technology. The method comprises the following steps: a) determining a lane changing range; b) adopting a k-means clustering method to obtain accurate vehicle track data of a straight going stage before lane changing, a lane changing process stage and a straight going stage after lane changing; c) determining a lane changing mode characterization index; d) acquiring a lane changing mode to obtain k types of lane changing processes with different lane changing durations; e) carrying out lane changing characteristic analysis to obtain a fitting curve equation of the vehicle in k types of different lane changing modes; and f) applying lane changing characteristics. Compared with the lane changing characteristic analysis without considering the lane changing mode, the lane changing process extraction and lane changing characteristic analysis method has the advantages that the lane changing behaviors in different lane changing modes can be described more accurately, the randomness of the lane changing process is reflected, and reference is provided for lane changing track planning considering the lane changing style.
本发明的基于无监督技术的换道过程提取及换道特性分析方法,包括:a).确定换道范围;b).采用k‑means聚类方法,得到包括换道前的直行阶段、换道过程阶段、换道后的直行阶段的精准车辆轨迹数据;c).确定换道模式表征指标;d).获取换道模式,得到k类换道持续时间不同的换道过程;e).换道特性分析,得到k类不同换道模式下车辆的拟合曲线方程;f).换道特性应用。本发明的换道过程提取及换道特性分析方法,相比不考虑换道模式的换道特征分析,该方法能更准确地刻画不同换道模式下的换道行为,体现了换道过程的随机性,为考虑换道风格的换道轨迹规划提供参考。
Lane changing process extraction and lane changing characteristic analysis method based on unsupervised technology
一种基于无监督技术的换道过程提取及换道特性分析方法
2022-06-17
Patent
Elektronische Ressource
Chinesisch
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