The invention is applicable to the technical field of auxiliary driving systems, and provides a differential automatic lane changing decision method, which comprises the following steps of: recording parameters for representing styles of a driver in a driving process, and classifying the driving styles by using the parameters; based on the observed trajectories of the surrounding vehicles, combining the driving style label, and using an LSTM neural network to predict the following trajectories of the surrounding vehicles; selecting a safe distance at the beginning of lane changing as a standard, and presetting different reaction time, maximum acceleration and brake deceleration for different driving styles; for traffic participants around the vehicle, a safety-related area is selected, when a target exists in the safety-related area, the safety-related target is processed preferentially, and when the vehicle is in a safe state, it is confirmed that the lane changing action can be executed. According to the method, the safety of the lane changing process can be remarkably improved, a more personalized lane changing mode is provided, and the acceptability of a driver to an algorithm and the riding comfort are effectively improved.

    本发明适用于辅助驾驶系统技术领域,提供了一种差异性自动换道决策方法,包括以下步骤:记录用于表征驾驶员在驾驶过程中的风格的参数,使用参数对驾驶风格进行分类;基于周边车辆的被观测轨迹,结合驾驶风格标签,使用LSTM神经网络预测其接下来的轨迹;选择使用换道开始时的安全距离作为标准,对于不同的驾驶风格,预设不同的反应时间、最大加速度和刹车减速度;针对自车周围的交通参与者,选取一个安全相关区域,当安全相关区域内存在目标时,优先处理安全相关目标,当自车处于安全状态,确认可以执行变道动作。本方法可以显著提升换道过程的安全性,提供了更加个性化的换道方式,有效提升驾驶员对于算法的接受度和乘坐舒适度。


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    Title :

    Differential automatic lane changing decision-making method


    Additional title:

    一种差异性自动换道决策方法


    Contributors:
    GAO ZHENHAI (author) / LIU DAYU (author) / SUN TIANJUN (author) / YU TONG (author) / CAI RONGGUI (author) / ZHAO HAOYUAN (author) / ZHAO KEHAN (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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