The invention belongs to the technical field of automatic driving, and particularly relates to an intelligent automobile personalized obstacle avoidance control method and system, and the method comprises the steps: obtaining feature parameters in a historical driving track of a vehicle user, carrying out the clustering analysis, employing an improved BP neural network to recognize a corresponding driving style, and constructing an automatic driving risk unified quantification model; acquiring information of surrounding driving vehicles, observing states of the surrounding driving vehicles by adopting a hidden Markov model, performing lane changing intention identification, and generating a vehicle obstacle avoidance mode decision according to an identification result; calculating transverse and longitudinal potential field forces according to the automatic driving risk unified quantification model, designing a transverse and longitudinal obstacle avoidance control method according to the transverse and longitudinal potential field forces, and performing personalized constraint on the designed transverse and longitudinal obstacle avoidance control method according to the driving style of the vehicle user; the problem that automatic driving is difficult to integrate into human driving ecology can be effectively solved by establishing the unified risk field model considering the human-vehicle-road ring and designing the personalized obstacle avoidance method based on the driving style.

    本发明属于自动驾驶技术领域,具体涉及一种智能汽车个性化避障控制方法及系统,包括:获取车辆用户历史驾驶轨迹中的特征参数并进行聚类分析,采用改进BP神经网络识别对应的驾驶风格,并构建自动驾驶风险统一量化模型;获取周围行驶车辆信息,采用隐马尔可夫模型观测周围行驶车辆状态,进行换道意图识别,根据识别结果生成车辆避障方式决策;根据自动驾驶风险统一量化模型计算横纵向的势场力,根据横纵向势场力设计横纵向避障控制方法,根据车辆用户的驾驶风格对设计的横纵向避障控制方法进行个性化约束;本发明通过建立考虑人车路环的统一风险场模型,并设计基于驾驶风格的个性化避障方法,能够有效解决自动驾驶难以融入人类驾驶生态的问题。


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    Title :

    Personalized obstacle avoidance control method and system for intelligent automobile


    Additional title:

    一种智能汽车个性化避障控制方法及系统


    Contributors:
    LI HAIQING (author) / LI YUXIN (author) / LU SHENG (author) / LEE YOUNG BOK (author) / LUO JIUFEI (author) / CHEN JIALU (author)

    Publication date :

    2024-05-10


    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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