The invention belongs to the technical field of vehicle automatic driving, and discloses an intelligent vehicle lane changing decision-making method and system based on LSTM trajectory prediction, and the method comprises the steps: collecting the historical motion trajectory information of traffic participants around a vehicle, and preprocessing the trajectory information; road environment modeling is carried out according to the traffic scene, and an algorithm model fusing an LSTM prediction model and a depth deterministic strategy gradient (DDPG) is built; predicting future trajectories of surrounding traffic participants through an LSTM (Long Short Term Memory) prediction model; taking the predicted future trajectory of the traffic participant, the road environment and the vehicle state as a state space of a DDPG algorithm, and designing an action space of the DDPG algorithm by considering longitudinal speed and transverse lane change; setting a reward function to evaluate the action of the own vehicle, so that the own vehicle learns how to maximize the value of the reward function through continuous interaction with the road environment; using a loss function to update network parameters, and rapidly improving the model; through continuous improvement of the model, a lane changing track meeting requirements is decided.
本发明属于车辆自动驾驶技术领域,公开了一种LSTM轨迹预测的智能车辆换道决策方法及系统,包括:采集自车周围交通参与者的历史运动轨迹信息,并预处理轨迹信息;根据交通场景进行道路环境建模,搭建融合LSTM预测模型和深度确定性策略梯度DDPG的算法模型;通过LSTM预测模型,对周围交通参与者的未来轨迹进行预测;将所预测出的交通参与者的未来轨迹、道路环境、车辆状态作为DDPG算法的状态空间,同时考虑纵向速度和横向变道来设计DDPG算法的动作空间;设置奖励函数对自车所做动作进行评价,使自车通过与道路环境的不断交互来学习如何最大化奖励函数的值;利用损失函数去更新网络参数,快速改进模型;经过模型不断地改进,决策出一条满足要求的换道轨迹。
Intelligent vehicle lane changing decision-making method and system for LSTM trajectory prediction
一种LSTM轨迹预测的智能车辆换道决策方法及系统
2024-01-02
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 |
Lane-changing decision-making and trajectory planning method for intelligent networked automobile
European Patent Office | 2024
|Intelligent vehicle autonomous lane changing trajectory planning method
European Patent Office | 2024
|European Patent Office | 2023
|