The invention discloses a surrounding vehicle driving behavior intention inference method, system and device, and the method comprises the following steps: building a Frenet coordinate system, and modeling a driving path of a target vehicle into a cubic spline; acquiring the position (st, qt) of a target vehicle in a coordinate system and an initial course angle theta t, and determining an initial path formula (1); obtaining a calculation formula (3) of the end point sf; presetting initial lane changing time tprev, and obtaining a preset end point sf of the path according to a calculation formula of the initial lane changing time tprev and the end point sf; a calculation formula (4) of the coefficients a, b, c and d is obtained, the current period k is obtained, the self-adaptive lane changing time tprev, k of the current period k is estimated according to the formula (1), the formula (3) and the formula (4), and the actual end point sf of the path is obtained according to the formula (3) and the tprev, k; and obtaining three paths according to the actual end points sf of the paths, calculating the probability of each path, and deducing the driving behavior intention of the target vehicle according to the path with the highest probability.
本发明公开了一种周围车辆驾驶行为意图的推断方法、系统及设备,所述推断方法包括以下步骤:建立Frenet坐标系,将目标车辆的驾驶路径建模为三次样条曲线;获取目标车辆在坐标系中的位置(st,qt)和初始航向角θt,确定初始路径公式(1);获取所述终点sf的计算公式(3);预设初始换道时间tprev,根据初始换道时间tprev和终点sf的计算公式,获取路径的预设终点sf;获取系数a、b、c、d的计算公式(4),获取当前周期k,根据公式(1)、公式(3)和公式(4),估计当前周期k自适应换道时间tprev,k,根据公式(3)和tprev,k,获得路径的实际终点sf;根据路径的实际终点sf得到三条路径,计算每条路径的概率,根据概率最高的路径,推断目标车辆的驾驶行为意图。
Method, system and equipment for inferring driving behavior intention of surrounding vehicles
一种周围车辆驾驶行为意图的推断方法、系统及设备
2024-02-23
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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