Following acceleration determining method considering rear vehicle when front vehicle changes lane and drives off and following behavioral modeling method

A determination method and a technology for changing lanes of the preceding vehicle, which is applied in the field of intelligent transportation and can solve the problem that the modeling method cannot be reasonably described.

Active Publication Date: 2017-12-08
重庆大学溧阳智慧城市研究院
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Problems solved by technology

In the process of the vehicle in front of the current lane changing lanes and leaving the target lane, how the vehicle behind the

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  • Following acceleration determining method considering rear vehicle when front vehicle changes lane and drives off and following behavioral modeling method
  • Following acceleration determining method considering rear vehicle when front vehicle changes lane and drives off and following behavioral modeling method
  • Following acceleration determining method considering rear vehicle when front vehicle changes lane and drives off and following behavioral modeling method

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Embodiment Construction

[0045] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than limiting the protection scope of the present invention.

[0046] The invention discloses a method for modeling the car-following behavior of a following vehicle when the vehicle in front has a lane-changing and leaving behavior, and reasonably reflects the influence of the lane-changing and leaving behavior of the preceding vehicle on the car-following behavior of the following vehicle.

[0047] To achieve the above purpose, a car-following behavior modeling method considering the process of the vehicle in front changing lanes and leaving includes the following steps:

[0048] Step S1, obtain the vehicle numbered n on the current lane l with the vehicle ahead in the current lane The lateral offset distance ΔW n,n+1 , where...

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Abstract

The invention discloses a following behavioral modeling method which takes into account lane-changing of a front vehicle. The method comprises the steps that S1 the lane-changing trajectory data of a lane-changing vehicle, the rear vehicle of the lane-changing vehicle and the front vehicle of the lane-changing vehicle are acquired when the vehicle changes the lane and drives off the lane; S2 the acceleration state change of the lane-changing vehicle during the lane-changing process is determined; S3 whether the lane-change vehicle drives off the current lane or not, if so, the second front vehicle of the current lane is used as the tracking target, otherwise the front vehicle of the current lane and the lane-changing vehicle which drives off are used as following targets; S4 modeling basic parameters based on a genetic algorithm are calibrated; S5 a driver competition coefficient is identified; and S6 the following acceleration of the current vehicle at a next moment is output. According to the invention, based on a classic following behavioral model FVDM model, a pitch gain factor is introduced to reflect the enlargement of the rear vehicle to the front driving space when the front vehicle in the current late is laterally deviated, so as to reasonably reflect the influence of the lane-changing behavior of the front vehicle to the following behavior of the rear vehicle; and the adaptability of the following behavioral modeling method is effectively improved.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and in particular relates to a vehicle longitudinal car-following behavior decision-making model applicable to a two-lane automatic driving system, and further relates to a method for determining the car-following acceleration and car-following behavior of a car behind when the car in front changes lanes and leaves modeling method. Background technique [0002] Car-following behavior of a vehicle mainly describes the reaction of the rear vehicle caused by the change of the movement state of the vehicle in front under the condition of limited overtaking on a single lane, and is one of the most basic driving behaviors of the driver. The continuous improvement of car-following behavior modeling methods provides a solid theoretical basis for grasping the operating mechanism of real traffic flow. From the perspective of the starting point of the car-following behavior modeling method, it is ...

Claims

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Application Information

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IPC IPC(8): G08G1/00G06F17/50
CPCG06F30/20G08G1/22
Inventor 孙棣华赵敏郑林江王玄金
Owner 重庆大学溧阳智慧城市研究院
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