The invention discloses a vehicle lane changing intention prediction method and related equipment, and belongs to the field of automatic drive.The method comprises the steps that firstly, the real-time speed and the instant vehicle distance of vehicles around an automatic driving vehicle are obtained, a Gaussian mixture model is constructed and updated, a moving vehicle is recognized according to the Gaussian mixture model, and the vehicle lane changing intention prediction result is obtained; then the lane changing intention judgment model is used for processing the real-time speed and the instant vehicle distance of the moving vehicle, and prediction of whether surrounding vehicles intend to change lanes or not is completed; according to the method, by simulating a selective attention mechanism of a human driver, the accuracy and timeliness of lane changing intention recognition are remarkably improved, and the method is excellent in performance in a complex traffic environment; the lane changing intention judgment model is combined, the lane changing intention can be recognized before the lane changing behavior occurs, enough early warning time is provided, the automatic driving vehicle can make a response in time, and potential collision is avoided.
本发明公开了一种车辆变道意图预测方法及相关设备,属于自动驾驶领域,本方法首先获取自动驾驶车辆的周围车辆的实时速度和即时车距,从而构建并更新混合高斯模型,根据混合高斯模型识别出运动车辆,然后再利用变道意图判断模型对运动车辆的实时速度和即时车距进行处理,完成周围车辆是否意图变道的预测;本方法通过模拟人类驾驶员的选择性注意机制,显著提高了变道意图识别的准确性和及时性,在复杂交通环境中表现出色;结合了变道意图判断模型,能够在变道行为发生前识别出变道意图,提供足够的预警时间,使得自动驾驶车辆能及时做出反应,避免潜在碰撞。
Vehicle lane changing intention prediction method and related equipment
一种车辆变道意图预测方法及相关设备
2024-10-15
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 |
Vehicle lane changing intention prediction method considering vehicle complex interaction
European Patent Office | 2024
|Vehicle lane-changing control method, vehicle lane-changing control device and related equipment
European Patent Office | 2020
|Lane changing intention prediction method, model training method, vehicle and storage medium
European Patent Office | 2024
|