The invention discloses an unmanned vehicle active collision avoidance method based on front vehicle trajectory clustering prediction, which comprises the following steps: extracting observation signals in the driving process of a front vehicle to obtain a u-shape set, calculating the distance between the u-shape set and a time sequence to obtain a distance matrix, and clustering the distance matrix to obtain a clustering result; according to the obtained clustering result, a long-short-term memory network model is trained based on data collected by various vehicle-mounted sensors, prediction is carried out, and the driving track of the front vehicle is obtained; and an active collision avoidance strategy is formulated according to the obtained predicted trajectory of the preceding vehicle and the dynamic stability of the own vehicle. According to the method, active collision avoidance strategies including early warning and graded braking are formulated according to the predicted track of the front vehicle and the dynamic stability of the vehicle, so that the driving safety is ensured.
本发明公开了一种基于前车轨迹聚类预测的无人车辆主动避撞方法,包括对前车行驶过程观测信号进行提取得到u‑shapelets集合,再计算u‑shapelets集合与时间序列的距离得到距离矩阵,并对距离矩阵进行聚类,得到聚类结果;根据得到的聚类结果,再基于各类车载传感器所采集数据分别训练长短时记忆网络模型,进行预测,得到前车行驶轨迹;根据得到的前车预测轨迹和自身车辆动力学稳定性,制定得到主动避撞策略。本发明通过根据预测的前车轨迹和自身车辆动力学稳定性,制定主动避撞策略,包括预警和分级制动,以确保行车安全。
Unmanned vehicle active collision avoidance method based on preceding vehicle trajectory clustering prediction
一种基于前车轨迹聚类预测的无人车辆主动避撞方法
2025-01-07
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 |
Trajectory prediction anti-collision method for unmanned vehicle
European Patent Office | 2022
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