The invention discloses an intelligent vehicle lane changing decision-making method based on a probability output model. The method comprises the steps that: driving environment parameters are acquired, and the driving anticipated vehicle distance and lane changing anticipated vehicle distance of an original lane are calculated; a lane changing probability output model is established, whether potential collision exists or not after a vehicle executes operation is judged, and the input and output of a free lane changing fuzzy controller are designed; lane changing probabilities output based onsafety analysis and economic analysis can be respectively obtained according to the membership degree of each input; a lane changing negative coefficient is established according to the turn-on condition of a turn light of a rear vehicle of the original lane and the influence degree of the rear vehicle of the original lane on the vehicle input by the fuzzy controller; a free lane change probability output model is established on the basis of a binary selection Probit model, and a free lane change probability is outputted; and finally the lane changing probability of the vehicle is obtained. With the method of the invention adopted, on the premise of meeting lane changing safety, the vehicle can run in a driving environment with excellent driving space, small potential collision risk and good fuel economy, and the problems of traffic congestion, emission standard exceeding and the like are effectively relieved.

    本发明公开一种基于概率输出模型的智能车辆换道决策方法,获取行车环境参数并计算原始车道行驶预判车距和换道预判车距;建立换道概率输出模型,判断汽车执行操作后是否存在潜在碰撞,设计自由换道模糊控制器的输入和输出;由各输入的隶属度可以分别得到基于安全性分析和基于经济性分析输出的换道概率;根据模糊控制器输入的原始车道后车转向灯开启情况、原始车道后车对自车的影响程度,建立换道消极系数;结合二元选择Probit模型建立自由换道概率输出模型,输出自由换道概率;最终得到自车换道概率。本发明在满足换道安全的前提下能够使得自车行驶在驾驶空间优越,潜在碰撞风险小,燃油经济性好的驾驶环境中,有效地缓解交通拥挤、排放超标等问题。


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    Title :

    Intelligent vehicle lane changing decision-making method based on probability output model


    Additional title:

    一种基于概率输出模型的智能车辆换道决策方法


    Contributors:

    Publication date :

    2021-02-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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