The invention discloses a risk prediction and control method for an automatic driving vehicle confluence area. The method comprises the following steps: S1, constructing a safety field model; s2, on the basis of the safety field model in the S1, a prediction input sequence of the vehicle state is obtained by combining model prediction control MPC; s3, constructing a total cost function of the vehicle decision; s4, on the basis of the total cost function in the S3, constructing a game model of the vehicle and each surrounding vehicle, and performing optimization solution on the model; and S5, obtaining an optimal control input sequence of the vehicle based on the prediction control input sequence obtained in the step S2, the target function and the optimization decision in the step S4. The problems that the risk prediction and control strategy is not comprehensive enough, the flexibility is poor, the risk prediction is inaccurate, and training data dependence exists in the existing method are solved.
本发明公开了自动驾驶车辆合流区的风险预测与控制方法,包括以下步骤:S1:构建安全场模型;S2:基于S1的安全场模型,结合模型预测控制MPC获取车辆状态的预测输入序列;S3:构建车辆决策的总成本函数;S4:基于S3的总成本函数,构建车辆与周围每辆车的博弈模型,并对模型进行优化求解;S5:基于S2获取的预测控制输入序列、目标函数、S4的优化决策,获取车辆的最优控制输入序列。以解决现有方法存在的风险预测和控制策略不够全面、灵活性差、风险预测不准确、存在训练数据依赖的问题。
Risk prediction and control method for automatic driving vehicle confluence area
自动驾驶车辆合流区的风险预测与控制方法
2024-12-20
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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