The invention provides an autonomous lane changing decision-making method based on driving behaviors of a front vehicle, which comprises the following steps of: classifying left-right shaking behaviors of the front vehicle in a lane into transverse movement behaviors, classifying frequent sudden brake and pressure speed into longitudinal movement behaviors, and according to the transverse movement behaviors and the longitudinal movement behaviors of the front vehicle in the lane, determining the driving behavior of the front vehicle in the lane; a danger judgment model of the front vehicle in the lane is established according to transverse distance difference accumulation of the vehicle and the front vehicle in a period of time and longitudinal deceleration fluctuation of the front vehicle, a lane keeping decision factor is obtained, the function of rapidly recognizing dangerous driving behaviors of the front vehicle in the lane is achieved, and lane changing measures are adopted to avoid risks. According to the method, the behavior risks of the transverse movement and the longitudinal movement of the front vehicle are comprehensively considered and are quickly identified, so that the vehicle can more actively avoid the dangerous driving risk of the front vehicle, and the avoidance measures can be taken earlier.

    本发明提供了一种基于前车驾驶行为的自主变道决策方法,通过将本车道前车左右晃动的行为归类为横向运动表现,将频繁急刹、压速归类为纵向运动表现,根据本车道前车的横向运动表现和纵向运动表现,由一段时间内本车与前车横向距离差值累积、前车纵向减速度波动建立本车道前车危险判断模型,求得车道保持决策因子,实现了快速识别本车道前车存在的危险驾驶行为的功能,并采取变道措施规避风险。本发明通过综合考虑前车横向运动和纵向运动行为风险并进行快速识别,有助于本车更加积极地规避前车的危险驾驶风险,从而更早地采取规避措施。


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    Title :

    Autonomous lane changing decision-making method based on driving behavior of preceding vehicle


    Additional title:

    一种基于前车驾驶行为的自主变道决策方法


    Contributors:
    HE JIAORONG (author) / YU XIAOYANG (author) / ZHU XIAOLIN (author) / ZHOU YUWEI (author) / LI PIAO (author)

    Publication date :

    2023-12-08


    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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