The invention discloses a method for predicting a lane changing track of an automatic driving vehicle on a highway and related equipment. The method comprises the following steps: collecting state information data of an automatic driving target vehicle and a surrounding environment; according to the state information data, interaction pairs of the target vehicle and surrounding vehicles are generated based on a Stackelberg game model; and based on the interaction pair of the target vehicle and the surrounding vehicles, calculating an optimal lane changing track meeting a preset safety strategy. According to the scheme, the problem that the prediction accuracy cannot be improved due to the fact that a current mainstream decision model uses a fixed dynamic model method is solved; according to the method, interaction between the own vehicle and the surrounding vehicles is considered, the uncertainty of interaction can be processed, the problem that most of current decision models have no interaction between the own vehicle and the surrounding vehicles is solved, relevant constraints of safety limitation of the own vehicle are solved by using an optimization problem, and the correctness, success rate and safety of decision making are improved.
本发明公开了一种自动驾驶车辆高速公路变道轨迹预测的方法及相关设备,该方法包括:采集自动驾驶目标车辆及周边环境的状态信息数据;根据状态信息数据,基于斯塔克伯格博弈模型生成目标车辆与周边车辆的交互对;基于目标车辆与周边车辆的交互对,计算满足预设安全策略的最优变道轨迹。本发明方案解决了当前主流决策模型使用固定动力学模型方法而无法提高预测准确率的问题;考虑了自车与周边车辆的交互,可以处理交互的不确定性,解决了当前大部分决策模型自车与周边车辆无交互的问题,将自车的安全限制的相关约束使用优化问题求解,提升决策的正确性、成功率和安全性。
Method for predicting lane changing track of automatic driving vehicle on highway and related equipment
自动驾驶车辆高速公路变道轨迹预测的方法及相关设备
2023-09-12
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 |
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