The invention discloses a human driver style on-line identification method, which comprises the following steps of: 1, constructing a human driving behavior on-line identification model by adopting a modeling thought of inverse optimal control; step 2, simplifying the human driving behavior online identification model based on the Pontryagin minimum principle; 3, converting the model into a linear least square problem based on a model simplification result; and step 4, on the basis of model conversion, performing model solution by using a Lagrange multiplier method to obtain driving behavior parameters describing the style preference of the human driver, and further identifying the driving style of the human driver. According to the method, the driving style of the human driver of the environment vehicle can be accurately identified, so that the response performance and adaptability of an automatic driving system are effectively improved, and the driving safety and comfort are improved.
本发明公开了一种人类驾驶员风格在线辨识方法,包括以下步骤:步骤1、采用逆最优控制的建模思路,构建人类驾驶行为在线辨识模型;步骤2、基于庞特里亚金极小值原理,对人类驾驶行为在线辨识模型进行简化;步骤3、基于模型简化结果,将模型进行转化为线性最小二乘问题;步骤4、在模型转化的基础上,利用拉格朗日乘子法进行模型求解,求解得到描述人类驾驶员风格偏好的驾驶行为参数,进而辨识出人类驾驶员的驾驶风格。本发明方法能够准确辨识环境车辆人类驾驶员的驾驶风格,从而有效提升自动驾驶系统的响应性能和适应性,提升驾驶安全性和舒适性。
Human driver style online identification method
一种人类驾驶员风格在线辨识方法
2025-05-02
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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