The invention discloses a motion planning method for a T-shaped uncontrolled intersection of an intelligent vehicle based on state prediction. The motion planning method comprises the following steps: acquiring surrounding environment information of the T-shaped uncontrolled intersection where the intelligent vehicle is located through a vehicle-mounted sensor; constructing a road model and a virtual driver model of the T-shaped uncontrolled intersection; building an extended Kalman filter based on the interactive multiple models, judging the driving intention of the target vehicle at the future moment, calculating to obtain probability estimation results of different virtual driver models, and fusing the driving intention and the probability estimation results to obtain a state prediction value of the target vehicle; and performing motion planning on the intelligent vehicle according to the state prediction value of the target vehicle to obtain a motion planning strategy of the intelligent vehicle at the T-shaped uncontrolled intersection. According to the invention, through improving the motion planning capability of the intelligent vehicle, the traffic accident rate of the T-shaped uncontrolled intersection can be reduced, the traffic jam can be reduced, and the road traffic efficiency and safety can be improved.
本发明公开了一种基于状态预测的智能车T型不受控路口的运动规划方法,步骤如下:通过车载传感器获取智能车所处T型不受控路口的周围环境信息;构建T型不受控路口的道路模型和虚拟驾驶员模型;基于交互多模型构建扩展卡尔曼滤波器并判断目标车辆在未来时刻的行驶意图,计算得到不同虚拟驾驶员模型概率估计结果,融合行驶意图和概率估计结果得到目标车辆的状态预测值;根据目标车辆的状态预测值对智能车进行运动规划,获得智能车在T型不受控路口的运动规划策略。本发明通过提高智能车的运动规划能力,有助于降低T型不受控路口的交通事故率、减少交通拥堵,提高道路通行效率和安全性。
State prediction-based motion planning method for T-shaped uncontrolled intersection of intelligent vehicle
基于状态预测的智能车T型不受控路口的运动规划方法
2023-12-19
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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