The invention discloses a vehicle trajectory reconstruction method suitable for multiple scenes of mixed traffic flow. The method comprises the following steps: S1, collecting information such as positions and speeds of surrounding manually-driven vehicles; and S2, dividing the reconstruction scene into a full-perception scene, a semi-perception scene and a conventional traffic flow scene according to the types of adjacent floating vehicles, and generating research scene data by considering the permeability of the floating vehicles. And S3, generating a time sequence by adopting a sliding window technology. And S4, in a conventional traffic flow scene, using an intelligent driver model IDM to reconstruct the vehicle under different floating vehicle permeability. And S5, in a semi-perception scene, a fusion model IDM-LSTM is adopted to reconstruct a vehicle track with fragmented observation, and an IDM model is adopted to reconstruct the track of a vehicle with a large amount of track information missing. And S6, in a full-perception scene, obtaining fragmented observation trajectories of all vehicles, introducing a weight module to fuse the IDM model and the long-short-term memory neural network, and reconstructing a missing vehicle trajectory.
本发明公开了一种适应混合交通流多场景下的车辆轨迹重构方法,步骤如下:S1、采集周围人工驾驶车辆位置,速度等信息。S2、根据相邻浮动车类型把重构场景划分为全感知场景、半感知场景和常规交通流场景,考虑浮动车的渗透率生成研究场景数据。S3、采用滑动窗口技术生成时间序列。S4、常规交通流场景下,在不同浮动车渗透率下采用智能驾驶人模型IDM重构车辆。S5、半感知场景下,采用融合模型IDM‑LSTM进行重构有片段化观测的车辆轨迹,存在大量轨迹信息缺失的车辆采用IDM模型进行轨迹重构。S6、全感知场景下,能够获取所有车辆的片段化观测轨迹,引入权重模块对IDM模型与长短期记忆神经网络融合,重构缺失的车辆轨迹。
Vehicle trajectory reconstruction method suitable for multiple scenes of mixed traffic flow
一种适应混合交通流多场景下的车辆轨迹重构方法
2025-04-11
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Omnidirectional vehicle suspension suitable for multiple scenes
European Patent Office | 2023
|Unmanned aerial vehicle fixing device suitable for multiple scenes
European Patent Office | 2020
|LANE LINE RECONSTRUCTION USING FUTURE SCENES AND TRAJECTORY
European Patent Office | 2021
|