The invention relates to the technical field of automatic driving, and discloses an intelligent networked automobile lane changing track planning method considering personalized riding requirements of passengers. The method mainly can be divided into three parts, namely a passenger personalized demand extraction layer, a decision-making layer and a planning layer. In the passenger personalized demand extraction layer, a passenger demand factor mapping model based on an analytic hierarchy process and a fuzzy logic system is introduced to be used as a subsequent personalized quantitative benchmark. In the decision-making layer, a lane changing decision-making model considering the personalized riding demand of the passenger is designed based on the artificial potential energy field theory and the pure strategy game method, and a personalized lane changing decision can be generated based on the driving environment information and the passenger demand factor. In the planning layer, a lane changing time length prediction model is designed and used for restraining the lane changing time length, the problem is converted into a quadratic programming problem, and therefore the personalized lane changing track meeting the requirements of passengers is obtained through solving.
本发明涉及自动驾驶技术领域,且公开了一种考虑乘客个性化乘坐需求的智能网联汽车换道轨迹规划方法。该方法主要能够被分为三个部分,分别是乘客个性化需求提取层、决策层和规划层。在乘客个性化需求提取层中,本发明引入了一种基于层次分析法与模糊逻辑系统的乘客需求因子映射模型,用于后续的个性化量化基准。在决策层中,本发明基于人工势能场理论和纯策略博弈方法设计了一种考虑乘客个性化乘坐需求的换道决策模型,能够基于行驶环境信息和乘客需求因子生成个性化换道决策。在规划层中,本发明设计了一个换道时长预测模型,用于换道时长的约束,并将问题转为一个二次规划问题,从而求解得到满足乘客需求的个性化换道轨迹。
Intelligent networked automobile lane changing trajectory planning method considering personalized riding requirements of passengers
一种考虑乘客个性化乘坐需求的智能网联汽车换道轨迹规划方法
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 |
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