The invention discloses a vehicle trajectory prediction method based on the combination of interactive multiple models and a smooth variable structure filter, and aims to improve the accuracy and reliability of vehicle trajectory prediction. Firstly, vehicle track data are received under a Cartesian coordinate system, and measurement data are converted through a curve coordinate system. And then, according to measurement data of the curve coordinate system, a generalized variable boundary smooth variable structure filter is adopted to estimate the vehicle state. On the basis of vehicle state estimation, an interactive multi-model strategy is adopted, and vehicle behaviors are predicted through a plurality of dynamic models, so that the accuracy of track prediction is improved. And finally, predicting the path of the vehicle within a time range by using a lane keeping and lane changing motion model in the smooth variable structure filter bank. Through the method combining the interactive multi-model and the smooth variable structure filter, the vehicle trajectory prediction performance can be effectively improved, and technical support is provided for development of an intelligent traffic system and an automatic driving technology.
本发明公开了一种基于交互式多模型和平滑变结构滤波器结合的车辆轨迹预测方法,旨在提高车辆轨迹预测的准确性和可靠性。首先在笛卡尔坐标系下接收车辆轨迹数据,并通过曲线坐标系转化测量数据。然后,根据曲线坐标系的测量数据,采用广义变边界平滑变结构滤波器对车辆状态进行估计。在车辆状态估计的基础上,采用交互式多模型策略,通过多个动态模型预测车辆行为,从而提高轨迹预测的准确性。最后,利用平滑变结构滤波器组中的车道保持和换道运动模型预测车辆在一个时间范围内的路径。通过这种结合交互式多模型和平滑变结构滤波器的方法,能够有效提升车辆轨迹预测的性能,为智能交通系统和自动驾驶技术的发展提供技术支持。
Vehicle track prediction method based on combination of interactive multi-model and smooth variable structure filter
一种基于交互式多模型和平滑变结构滤波器结合的车辆轨迹预测方法
2024-07-19
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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