The invention discloses a vehicle lane changing behavior prediction method under a lane changing maneuvering constraint, and the method comprises the steps: screening key features from lane changing behavior features according to the historical data of vehicle lane changing behaviors, and dividing the key features into the features of a target vehicle and the interaction features of the target vehicle and surrounding vehicles; the method comprises the following steps: constructing a lane changing maneuver sample set and a lane changing behavior training sample set according to a historical data set, constructing a lane changing maneuver judgment model based on the lane changing maneuver sample set, constructing a lane changing behavior prediction model based on an improved Transform module, and training by adopting the lane changing behavior training sample set. The method comprises the following steps: acquiring key features of a lane change behavior, determining a maneuver judgment result through a lane change maneuver judgment model, and inputting feature data and the maneuver judgment result into a lane change behavior prediction model to obtain a predicted lane change behavior type. According to the method, the characteristics of the target vehicle and the interaction characteristics of the target vehicle and surrounding vehicles are combined, so that the accuracy and calculation efficiency of lane changing behavior prediction are effectively improved.

    本发明公开了一种换道机动约束下的车辆换道行为预测方法,首先根据车辆换道行为历史数据从换道行为特征中筛选出关键特征,并划分为目标车辆的自身特征和目标车辆与周围车辆的交互特征,根据历史数据集构建换道机动样本集和换道行为训练样本集,基于换道机动样本集构建得到换道机动判断模型,基于改进的Transformer模块构建换道行为预测模型并采用换道行为训练样本集进行训练,当需要对某个目标车辆进行换道行为预测时,采集其关键特征,通过换道机动判断模型确定机动判断结果,再将特征数据和机动判断结果输入换道行为预测模型,得到预测的换道行为类型。本发明结合目标车辆的自身特征和其与周围车辆的交互特征,有效提升换道行为预测的精确度和计算效率。


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    Title :

    Vehicle lane changing behavior prediction method under lane changing maneuver constraint


    Additional title:

    换道机动约束下的车辆换道行为预测方法


    Contributors:
    DENG KAIKAI (author) / MA HUAHONG (author) / MIAO YUNING (author) / WANG QINGGUO (author) / WU HONGHAI (author) / LIU ZHENNAN (author) / XU XIANYA (author) / GAO JIANPING (author) / XING LING (author) / ZHANG XIAOHUI (author)

    Publication date :

    2025-04-25


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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