The invention provides a lane change track generation method, which comprises the following steps of: processing multi-modal dynamic time sequence data through a risk level feature extraction network, and generating a high-dimensional risk feature vector representing a lane change risk level; vehicle kinetic parameter features are extracted and then spliced with the high-dimensional risk feature vectors, the vehicle kinetic parameter features are input into an auto-encoder module for dimension reduction processing, and low-dimensional potential vector representation is generated; and taking the low-dimensional potential vector representation and the high-dimensional risk feature vector as a joint conditional variable, inputting the joint conditional variable into a conditional generative adversarial network module, and taking the high-dimensional risk feature vector as a condition to generate a lane changing track conforming to a specified risk level. And an efficient and reliable test data support is provided for an automatic driving algorithm.
本发明提供了一种车道变道轨迹生成方法,通过风险等级特征提取网络处理多模态动态时间序列数据,生成表征车道变换风险等级的高维风险特征向量;提取车辆动力学参数特征后与高维风险特征向量进行拼接,输入自编码器模块进行降维处理,生成低维潜在向量表示;将低维潜在向量表示与高维风险特征向量作为联合条件变量,输入条件生成对抗网络模块,以高维风险特征向量作为条件,生成符合指定风险等级的车道变道轨迹。为自动驾驶算法提供了高效、可靠的测试数据支撑。
Lane changing track generation method
一种车道变道轨迹生成方法
30.05.2025
Patent
Elektronische Ressource
Chinesisch
| 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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