The invention discloses an interactive trajectory prediction method for adjacent vehicles. The method comprises the following steps: acquiring the state of an adjacent vehicle of a vehicle at the current moment; predicting driving behaviors of adjacent vehicles; determining an adjacent vehicle target lane; predicting a front wheel turning angle of the adjacent vehicle at the next moment according to the state of the adjacent vehicle at the current moment; establishing a longitudinal speed control model considering individual differences of drivers and vehicle heterogeneity, and predicting the longitudinal speed of the adjacent vehicle at the next moment according to the states of the adjacent vehicle and the vehicle in front of the adjacent vehicle at the current moment; obtaining the state of the adjacent vehicle at the next moment; and iteratively generating the state of the adjacent vehicle in the whole prediction long time domain, and obtaining the prediction trajectory of the adjacent vehicle in the prediction long time domain. The method does not need a large amount of training data, is more stable and reliable in prediction result, can adapt to a complex environment, is higher in calculation efficiency, and effectively improves the prediction trajectory generation efficiency and accuracy of adjacent vehicles.

    本发明公开了一种相邻车辆交互式轨迹预测方法,包括:获取自车的相邻车辆在当前时刻的状态;预测相邻车辆的驾驶行为;确定相邻车辆目标车道;根据相邻车辆当前时刻的状态,预测相邻车辆在下一时刻的前轮转角;建立考虑驾驶员个体差异和车辆异质性的纵向速度控制模型,并根据相邻车辆和其前车在当前时刻的状态,预测相邻车辆在下一时刻的纵向速度;得到相邻车辆下一时刻的状态;迭代生成相邻车辆在整个预测长时域内的状态,得到预测长时域内相邻车辆的预测轨迹。本发明不需要大量的训练数据且预测结果更加稳定可靠,能够适应复杂环境且计算效率更高,有效地提高了相邻车辆生成预测轨迹的效率和准确性。


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    Titel :

    Adjacent vehicle interactive trajectory prediction method


    Weitere Titelangaben:

    一种相邻车辆交互式轨迹预测方法


    Beteiligte:
    ZHAO WANZHONG (Autor:in) / QU MENGYUE (Autor:in) / ZHOU XIAOCHUAN (Autor:in) / LUAN ZHONGKAI (Autor:in) / LIU JINQIANG (Autor:in) / LYU YUANFEI (Autor:in) / XU KELEI (Autor:in) / XUE ZIKUAN (Autor:in)

    Erscheinungsdatum :

    2023-12-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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