The invention provides a safety automatic driving lane changing track planning method based on an improved LSTM neural network. The safety automatic driving lane changing track planning method comprises the following steps: S1, calculating a lane changing track curve; S2, calculating a trajectory security constraint; S3, determining an optimal trajectory meeting the trajectory security constraintsin the S2; S4, putting the optimal trajectory and the original trajectory in S3 into an improved LSTM neural network for training; and S5, outputting a final lane changing track, thereby constructinga set of complete dynamic vehicle lane changing track planning model. According to the method, the safety track is generated by adopting the track algorithm considering the safety, and then the safety track and the original track are learned by using the improved LSTM neural network, so that the decided final lane changing track can be closer to the human riding experience on the premise of safety. Therefore, the service level of the planned optimal lane changing track is high, and it can be guaranteed that passengers have high comfort experience and efficiency experience.

    本发明提出了一种基于改进LSTM神经网络的安全性自动驾驶换道轨迹规划方法,包括如下步骤:S1,计算换道轨迹曲线;S2,计算轨迹安全性约束;S3,确定满足S2所述的轨迹安全性约束的最优轨迹;S4,将S3所述的最优轨迹与原始轨迹放入改进LSTM神经网络进行训练;S5,输出最终换道轨迹,从而构建了一套完整的动态车辆换道轨迹规划模型。本发明采用了考虑安全性的轨迹算法来生成安全轨迹,再用改进LSTM神经网络来对安全性轨迹与原始轨迹进行学习,使决策出的最终换道轨迹在安全性前提下更能贴近人类乘坐体验。因而本发明规划出的最优换道轨迹服务水平较高,能够保证乘客具有较高的舒适度体验与效率体验。


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    Title :

    Safety automatic driving lane changing track planning method based on improved LSTM neural network


    Additional title:

    基于改进LSTM神经网络的安全性自动驾驶换道轨迹规划方法


    Contributors:
    XIONG MINGQIANG (author) / CHEN TAO (author) / ZHANG QIANG (author) / XIA QIN (author) / QIAO JIE (author)

    Publication date :

    2021-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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