The invention provides a driver intention prediction and intention trajectory updating method, which comprises the following steps of: firstly, performing trajectory prediction based on a CTRV model, taking a vehicle state at the current moment as an initial condition, and performing relatively high accuracy on the operation intention of a driver and the future trajectory prediction of a vehicle in a short time range; and based on a quintic polynomial trajectory of a structured road design, a long-term intention trajectory conforming to the riding comfort is obtained according to the intention of the driver. Through the combination of the two, the long-term and short-term comprehensive prediction trajectory of the vehicle can be accurately expressed. According to the method, the operation intention of the driver is judged in each prediction period, and the intention trajectory is dynamically updated, so that the problem of man-machine conflict caused by active lane change and obstacle avoidance of the driver is avoided, and the problem of excessive intervention of an auxiliary system on the driver is also avoided.
本发明提供了一种驾驶员意图预测与意图轨迹更新方法,其首先基于CTRV模型的轨迹预测,以当前时刻的车辆状态作为初始条件,在短时间范围内能够对驾驶员的操作意图及车辆的未来轨迹预测有较高的准确性,再基于结构化道路设计的五次多项式轨迹,根据驾驶员意图得到符合乘坐舒适性的长期意图轨迹。通过两者的结合,可以较为准确的表达车辆的长短期的综合预测轨迹。方法在每个预测周期对驾驶员操作意图进行判断,进行意图轨迹的动态更新,避免了因驾驶员主动换道、避让障碍而产生的人机冲突问题,还避免了辅助系统对驾驶员的过度干预问题。
Driver intention prediction and intention trajectory updating method
一种驾驶员意图预测与意图轨迹更新方法
2023-02-24
Patent
Electronic Resource
Chinese
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 |
DRIVER INTENTION IDENTIFICATION METHOD AND DRIVER INTENTION IDENTIFICATION APPARATUS
European Patent Office | 2018
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