The invention discloses an eight-lane expressway car driver lane changing decision-making method, which comprises the following steps of analyzing a car lane changing behavior of an eight-lane expressway, and selecting a basic lane changing index; selecting a lane changing decision variable according to the basic lane changing index; constructing an eight-lane expressway lane change decision model, and training the lane change decision model by using the lane change decision variables; the lane changing decision model adopts a DBN model based on CRBM, takes a lane changing decision variable as input and takes a lane changing decision as output; the lane changing decision comprises lane keeping, left lane changing or right lane changing; and determining a lane changing decision of the driver by using the trained lane changing decision model. According to the method, the neural network is utilized to construct the eight-lane expressway driver lane changing decision model, and the influence of driver factors in the lane changing process is fully considered on the basis of a previous lane changing model, so that the decision model more accurately simulates the free lane changing behavior in the eight-lane expressway.
本发明公开了一种八车道高速公路小汽车驾驶员换道决策方法,包括以下步骤:对八车道高速公路小汽车换道行为进行分析,选取基本换道指标;根据基本换道指标选取换道决策变量;构建八车道高速公路换道决策模型,利用换道决策变量训练换道决策模型;所述换道决策模型采用基于CRBM的DBN模型,以换道决策变量为输入,以换道决策为输出;所述换道决策包括保持车道、向左换道或向右换道;利用训练之后的换道决策模型确定驾驶员的换道决策。本发明利用神经网络来构建八车道高速公路驾驶员换道决策模型,在以往换道模型的基础上充分考虑了驾驶员因素在换道过程的影响,使决策模型更加精准地模拟八车道高速公路中的自由换道行为。
Decision-making method for car driver to change lanes on eight-lane expressway
一种八车道高速公路小汽车驾驶员换道决策方法
2022-09-27
Patent
Electronic Resource
Chinese
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