The invention discloses an AV-MTF vehicle following prediction method and an AV-MTF vehicle following prediction system, an AV-MTF following vehicle classification model and a vehicle following prediction model are designed, and the output vehicle following acceleration, speed or trajectory can be used for vehicle following speed abnormity identification and vehicle management and control in an AV-MTF environment. The following vehicle classification model is used for judging the types of following vehicles according to the vehicle following motion information, and the vehicle following prediction model is used for predicting a sequence of vehicle following acceleration, speed or trajectory in a future period of time by combining the vehicle types and the vehicle motion information; according to the anomaly recognition algorithm, on the basis of one-time prediction of acceleration or a speed sequence, whether the difference between the predicted speed of a following vehicle and the actual collection speed of the following vehicle is within a reasonable range or not is detected in a self-adaptive mode to judge abnormal collection data of the vehicle. The method is simple and easy to implement, vehicle management and control can be better carried out for the AV-MTF environment, and then the road traffic efficiency and safety can be improved.
本发明公开了一种自动驾驶混合交通流(AV‑Mixed Traffic Flow,AV‑MTF)车辆跟驰预测方法与系统,设计了AV‑MTF跟驰车辆分类模型、车辆跟驰预测模型,输出的车辆跟驰加速度、速度或轨迹,可以用于车辆跟驰速度异常识别和AV‑MTF环境下车辆的管理与控制。跟驰车辆分类模型用于根据车辆跟驰运动信息判别跟驰车辆类别,车辆跟驰预测模型用于结合车辆类别与车辆运动信息,预测未来一段时间的车辆跟驰加速度、速度或轨迹的序列,异常识别算法在一次性预测加速度或速度序列的基础上通过自适应检测跟驰车辆的预测速度与其实际采集速度的差是否在合理范围来判断车辆异常采集数据。本发明方法简单易行,能够更好的针对AV‑MTF环境进行车辆管理和控制,进而有利于提升道路交通效率和安全。
Automatic driving mixed traffic flow vehicle following prediction method and system
一种自动驾驶混合交通流车辆跟驰预测方法与系统
2025-02-25
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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