The invention discloses an intelligent vehicle collision avoidance decision-making and path planning method and system based on surrounding vehicle trajectory prediction under an emergency working condition, and the method comprises the steps: constructing a physical guidance graph convolutional neural network trajectory prediction model, obtaining the longitudinal and transverse coordinates of a surrounding vehicle prediction trajectory, and a probability density function of longitudinal and transverse coordinate prediction errors; then, carrying out driving safety level prediction evaluation, determining whether the current self-vehicle needs to avoid collision or not, preferentially selecting braking collision avoidance when the current self-vehicle needs to avoid collision, carrying out self-vehicle braking collision avoidance and steering lane-changing collision avoidance risk prediction when the braking collision avoidance condition is not met, and selecting a collision avoidance form with relatively low prediction risk; when steering and lane changing collision avoidance are selected, a collision avoidance path of the vehicle in a future time period is planned through an improved artificial potential field and is optimized. According to the invention, the track prediction precision can be improved, and the driving safety and stability are ensured.
本发明公开了一种紧急工况下基于周车轨迹预测的智能汽车避撞决策与路径规划的方法、系统,构建物理引导的图卷积神经网络轨迹预测模型,得到周车预测轨迹纵、横向坐标,以及纵、横向坐标预测误差的概率密度函数,然后进行驾驶安全等级预测评估,确定当前自车是否需要避撞,需要进行避撞时,优先选择制动避撞,当不满足制动避撞条件时进行自车制动避撞和转向换道避撞风险预测,选择其中预测风险较小的避撞形式;在选择转向换道避撞时,通过改进的人工势场规划车辆未来时间段内的避撞路径并进行优化。本发明能提高轨迹预测精度,同时保证行车安全性与稳定性。
Intelligent automobile collision avoidance decision-making and path planning method and system based on surrounding automobile trajectory prediction under emergency working condition
一种紧急工况下基于周车轨迹预测的智能汽车避撞决策与路径规划的方法、系统
2023-08-29
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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