The invention belongs to the field of unmanned driving, and provides an unmanned vehicle group cooperation method based on trajectory prediction. The invention provides an unmanned vehicle group stability dynamic evolution method, so that an unmanned vehicle group is kept stable in four dynamic evolution events of node joining, node leaving, vehicle group merging and vehicle group splitting; on the basis, modeling is carried out on the state in the vehicle group evolution process, an unmanned vehicle group cooperation model is constructed, and an unmanned vehicle group cooperation method is provided. According to the method, the influence of the change of the internal structure of the vehicle group caused by surrounding frequently-changing interference factors can be reduced, so that the stability and continuity of the vehicle group are improved, and a model and a method are provided for the intelligent cooperation of the movement behaviors of the unmanned vehicle group; therefore, the problems of acceleration, lane changing, decision making, traffic jam and the like of unmanned driving in an unmanned driving scene at present are effectively solved, and the method has certain theoretical significance and application value for promoting healthy and rapid development of unmanned vehicle groups.

    本发明属于无人驾驶领域,提出了基于轨迹预测的无人驾驶车群协同方法。本发明给出了无人驾驶车群稳定性动态演化方法,使得无人驾驶车群在节点加入、节点离开、车群合并和车群分裂四种动态演化事件中保持稳定;在此基础上,对车群演化过程中的状态进行建模,构建无人驾驶车群协同模型,并给出了无人驾驶车群协同方法。本发明可以降低周围频繁变化的干扰因素造成的车群内部结构发生变化的影响,从而提高车群的稳定性和持续性,为无人驾驶车群的运动行为智能协同提供了模型和方法,从而有效解决目前无人驾驶场景中无人驾驶诸如加速、变道、决策以及交通拥堵等问题,对促进无人驾驶车群健康快速发展,具有一定理论意义和应用价值。


    Access

    Download


    Export, share and cite



    Title :

    Unmanned vehicle group cooperation method based on trajectory prediction


    Additional title:

    基于轨迹预测的无人驾驶车群协同方法


    Contributors:

    Publication date :

    2024-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    Unmanned vehicle group forming method based on trajectory prediction

    CHENG JIUJUN / HOU MENGNAN / MAO QICHAO | European Patent Office | 2024

    Free access

    Vehicle trajectory prediction method, control device and unmanned vehicle

    WANG YONGCONG | European Patent Office | 2021

    Free access

    UNMANNED VEHICLE COOPERATION SYSTEM, UNMANNED VEHICLE COOPERATION PROCESSING METHOD, AND PROGRAM

    MATSUNAMI NATSUKI / KARAKAMA SOTARO | European Patent Office | 2024

    Free access

    UNMANNED VEHICLE COOPERATION SYSTEM, UNMANNED VEHICLE COOPERATION PROCESSING METHOD, AND PROGRAM

    MATSUNAMI NATSUKI / KARAKAMA SOTARO | European Patent Office | 2021

    Free access

    Vehicle collision early warning method based on vehicle-road cooperation trajectory prediction

    SONG LIANG / HU XING / NI WEI et al. | European Patent Office | 2023

    Free access