The invention discloses a lane changing decision-making method and system based on a lane changing interaction intention. The method comprises the following steps: collecting lane changing interaction data; marking the lane changing interaction data through road information and a lane scene, and extracting driving features from the lane changing interaction data to construct a training set and a verification set; labeling the driving features, and determining a transverse lane changing intention; training a long-short term memory network through the training set and the transverse lane changing intention to obtain a transverse lane changing intention model; training a long-short term memory network through the transverse lane changing intention and the driving features to obtain a longitudinal way giving intention model; according to the transverse lane changing intention and longitudinal way giving intention, judging the lane changing interaction state of a lane changing interaction vehicle; and determining a lane changing decision according to the lane changing interaction state. According to the method, the current lane changing interaction intention of the vehicle is identified, so that correct decision can be made when the automatic driving vehicle changes the lane in the lane changing scene or when surrounding vehicles change the lane, and the traffic safety in the lane changing process is improved.

    本发明公开了一种基于换道交互意图的换道决策方法及系统。该方法包括:采集换道交互数据;通过道路信息以及车道场景对换道交互数据进行标注,并从换道交互数据中提取驾驶特征构建训练集和验证集;对驾驶特征进行标签,确定横向换道意图;通过训练集和横向换道意图训练长短时记忆网络,得到横向换道意图模型;通过横向换道意图和驾驶特征训练长短时记忆网络,得到纵向让行意图模型;根据横向换道意图和纵向让行意图,判定换道交互车辆的换道交互状态;根据换道交互状态确定换道决策。本发明通过识别车辆当前的换道交互意图,以帮助换道场景中自动驾驶车辆进行换道时或面对周围车辆换道时做出正确决策以及提高换道过程中的交通安全。


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    Title :

    Lane changing decision-making method and system based on lane changing interaction intention


    Additional title:

    一种基于换道交互意图的换道决策方法及系统


    Contributors:
    GONG JIANWEI (author) / ZHAO CHUNQING (author) / YANG LEI (author) / ZANG ZHENG (author)

    Publication date :

    2021-08-27


    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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