The invention provides a personalized lane changing auxiliary control system, relates to the technical field of intelligent driving, and solves the problems that control parameters of an existing lane changing auxiliary control system are fixed and cannot fully adapt to individual differences of key behavior characteristics such as lane changing track selection and lane changing opportunity judgment of a driver, and the driving quality is poor. And the acceptability and the satisfaction degree of the driver to the lane changing auxiliary control system are continuously reduced. The personalized lane changing auxiliary control system comprises the following steps: (1) constructing a driver individual characteristic parameter extraction model; (2) performing position prediction on the transverse direction and the longitudinal direction by using CNN-LSTM, and fitting by using a quintic polynomial to obtain a vehicle lane changing trajectory curve; and (3) in combination with driving safety and comfort limitation, an MPC personalized lane changing control model containing track and key parameter constraints is established, and a lane changing auxiliary control system for thousands of people and thousands of faces is realized.
本发明提供一种个性化换道辅助控制系统,涉及智能驾驶技术领域,解决了现有换道辅助控制系统的控制参数固定,不能充分适应驾驶员在换道轨迹选择、换道时机判断等关键行为特征上的个体差异,导致驾驶员对换道辅助控制系统的接受度和满意度持续下降的问题。一种个性化换道辅助控制系统包含以下步骤:(1)构建驾驶员个体特征参数提取模型;(2)利用CNN‑LSTM分别对横纵向进行位置预测,用五次多项式拟合,得到车辆换道轨迹曲线;(3)结合驾驶安全性和舒适性限制,建立包含轨迹和关键参数约束的MPC个性化换道控制模型,实现千人千面的换道辅助控制系统。
Personalized lane changing auxiliary control system
一种个性化换道辅助控制系统
2024-10-11
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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