A lane-changing recognition method for target vehicles for assisted driving based on predictive feedback

Abstract

The present invention proposes a lane-changing recognition method for a target vehicle for assisted driving based on predictive feedback. First, the surrounding target vehicle motion state information and road structure information are collected in real time to obtain the motion state of the target vehicle in the self-vehicle coordinate system; then the ground coordinates are calculated. Based on the motion state of the target vehicle, extract the feature quantity of the target vehicle’s lane-changing intention at the current moment; preliminarily identify the lane-changing result of the target vehicle according to the above-mentioned lane-changing intention feature quantity; use polynomial fitting and optimization methods to predict the target vehicle for the preliminary recognition result Motion trajectory: The trajectory conforming to the uniform acceleration motion constraint is used as the reference trajectory of the target vehicle, and the cumulative distance deviation between the predicted trajectory of the target vehicle and the reference trajectory is calculated, and the preliminary recognition result is checked as the final target vehicle lane change recognition result . The invention improves the accuracy rate of lane-changing identification of the target vehicle under observation noise, and enhances the robustness of the lane-changing identification method of the target vehicle.

Description

technical field [0001] The invention relates to the technical field of environment perception of an advanced assisted driving system, in particular to a lane-changing recognition method for a target vehicle for assisted driving based on predictive feedback. Background technique [0002] The dynamic changes of other moving vehicles within the road range have a crucial impact on road traffic safety. In the advanced assisted driving system, the selection of the driving strategy of the intelligent networked vehicle needs to consider the motion behavior of other vehicles. The movement behavior of vehicles on structured roads includes lane changing and lane keeping, and the behavior of vehicles changing lanes poses a greater threat to road traffic safety. According to the statistics of the European Union, the number of traffic accidents caused by lane changing accounts for 4%-10% of the total number of all traffic accidents, and the traffic delay time caused by lane changing traff...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem of insufficient robustness of the target vehicle lane-changing recognition method under the condition of observation noise in the vehicle-mounted sensor system, the present invention proposes a target vehicle lane-changing recognition method based on trajectory prediction feedback

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