The invention relates to an expressway vehicle lane change two-stage prediction method in a vehicle-road coordination environment. The method comprises the following steps: step 1, acquiring vehicle end and road end data information of a vehicle lane change behavior through a vehicle-mounted sensor and a road side traffic detector; step 2, constructing a lane changing intention recognition and trajectory prediction model which comprises a lane changing intention recognition module and a trajectory prediction module, inputting the vehicle end and road end data information into the lane changing intention recognition module, and outputting a probability of predicting a lane changing intention category of the vehicle, and jointly inputting the intention category probability and historical trajectory information into the trajectory prediction module, and outputting to obtain a lane change prediction result of the vehicle. Compared with the prior art, the method has the advantages that the lane change prediction effect of the adjacent vehicles in the expressway interleaving section under the vehicle-road cooperation scene is improved, and the like.

    本发明涉及一种车路协同环境下的快速路车辆换道两阶段预测方法,包括以下步骤:步骤1、通过车载传感器和路侧交通检测器获取车辆换道行为的车端和路端数据信息;步骤2、构建换道意图识别和轨迹预测模型,包括换道意图识别模块和轨迹预测模块,将所述车端和路端数据信息输入到所述换道意图识别模块中,输出为预测车辆换道的意图类别概率,将所述意图类别概率结合历史轨迹信息共同输入至所述轨迹预测模块中,输出得到车辆的换道预测结果。与现有技术相比,本发明提升了车路协同场景下快速路交织区段内相邻车辆换道预测的效果等优点。


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    Title :

    Expressway vehicle lane change two-stage prediction method under vehicle-road cooperation environment


    Additional title:

    一种车路协同环境下的快速路车辆换道两阶段预测方法


    Contributors:
    WANG LING (author) / BIAN QINGJIE (author) / MA WANJING (author) / ZHONG HAO (author) / WU JUNXIAN (author)

    Publication date :

    2024-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



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