The invention relates to a method for predicting the state of a manually-driven vehicle in a mixed traffic environment, and belongs to the field of intelligent traffic. The method comprises the steps that firstly, an open source vehicle trajectory data set is primarily processed, the standard deviation of speed data of the open source vehicle trajectory data set is calculated, sorting and splicing are carried out according to the standard deviation, and it is guaranteed that two pieces of data of an original trajectory do not excessively oscillate and better conform to the real situation; secondly, Kalman filtering is used for eliminating noise, caused by a sensor, of original data, and a more reliable data basis is provided; thirdly, considering the estimation error of the space clearance and the relative speed, improving on the basis of the IDM car-following model to obtain an IDMEST car-following model, and reflecting the behavior heterogeneity of the manually-driven vehicle; and finally, a deep learning algorithm is used to predict the state information of the manual driving vehicle between the intelligent network connection vehicles. According to the invention, the number and the positions of the manually driven vehicles in the mixed traffic environment and the speed difference and the acceleration difference between the manually driven vehicles and the rear intelligent network-connected vehicles can be predicted.

    本发明涉及一种混行交通环境中人工驾驶车辆状态预测方法,属于智能交通领域。该方法包括:首先对开源车辆轨迹数据集初步处理,计算其速度数据的标准差,并根据标准差进行排序和拼接,保障原始轨迹的两条数据不会出现过度震荡更加符合真实情况。其次,使用卡尔曼滤波消除原始数据由于传感器引起的噪声,提供更加可靠的数据基础。再次,考虑空间间隙和相对速度的估计误差,在IDM跟驰模型的基础上改进得到IDM_EST跟驰模型,反映人工驾驶车辆的行为异质性。最后,利用深度学习算法对智能网联车辆之间的人工驾驶车辆状态信息进行预测。本发明可预测混合交通环境下人工驾驶车辆的数量、位置以及与后方智能网联车辆的速度差、加速度差。


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    Title :

    Method for predicting motion state of manually-driven vehicle in mixed traffic environment


    Additional title:

    一种混合交通环境下人工驾驶车辆运动状态预测方法


    Contributors:
    HUANG XIN (author) / JING PENGHAO (author) / LEE YOUNG BOK (author)

    Publication date :

    2025-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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