The invention discloses a method for determining a zebra crossing pedestrian giving-way mode of a driverless automobile. The method comprises the following steps: firstly, selecting a zebra crossing road section without signal lamp control, and collecting pedestrian giving-way data of a real vehicle driver; then screening the collected data, removing emergency brake behaviors adopted by a driver and data that the driver is forced to stop by pedestrians, and retaining the data of active giving-way and deceleration behaviors of the driver; grading and combining the retained data, and establishing a logic fuzzy rule when a driver gives way to pedestrians according to the graded and combined data; and finally, applying the established logic fuzzy rule of the driver in giving way to the pedestrian to the unmanned vehicle, and controlling the unmanned vehicle to give way to the pedestrian at the zebra crossing without signal lamp control. According to the method, the deceleration meeting theoperation of a real driver can be automatically obtained according to the current speed of the driverless automobile and the distance from the driverless automobile to the pedestrian, so that the automobile is more stable and personified in the driving process.
本发明公开了一种无人驾驶汽车斑马线礼让行人模式的确定方法:首先选取无信号灯控制的斑马线路段,采集真实车辆驾驶人礼让行人的数据;然后对采集到的数据进行筛选,剔除驾驶人采取的急刹行为和被行人逼停的数据,保留驾驶人主动让行和有减速行为的数据;再将保留下的数据进行分级组合,并根据分级组合之后的数据,建立驾驶人在礼让行人时的逻辑模糊规则;最后将所建立的驾驶人在礼让行人时的逻辑模糊规则应用于无人驾驶车辆中,控制无人驾驶车辆在无信号灯控制的斑马线处礼让行人。该方法可以自动实现根据无人驾驶汽车当前车速以及距离行人的距离,得到符合真实驾驶人操作时采取的减速度,使得车辆在行驶过程中更平稳,更拟人化。
Method for determining zebra crossing pedestrian giving-way mode of driverless automobile
一种无人驾驶汽车斑马线礼让行人模式的确定方法
2020-09-11
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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