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Vehicle following behavior prediction method under Apollo platform

A car-following and prediction method technology, which is applied in the field of car-following behavior, can solve the problems of lack of driving environment considerations, only considering the leading car and car-following car, fuzzy theory, etc.

Pending Publication Date: 2020-02-04
XIAN UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the invention is to provide a vehicle following car behavior prediction method under the Apollo platform, solve the fuzzy theory and the method of artificial neural network in the prior art and all only consider the speed of leading car and car following car, acceleration and two cars spacing, lack of consideration for the driving environment

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  • Vehicle following behavior prediction method under Apollo platform
  • Vehicle following behavior prediction method under Apollo platform
  • Vehicle following behavior prediction method under Apollo platform

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Embodiment Construction

[0069] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0070] The car-following behavior prediction method under the Apollo platform of the present invention, firstly, a structured description of the scene is formed through scene understanding, the constraints of the vehicle motion geometry and the physical level are given, and the traffic signs, marking lines, and the relationship between the traffic sign and the surrounding vehicles Environmental information such as relationships is input into Dreamview of the Apollo platform to construct a real road scene; then, the driving behavior of the following car driver is divided into four stages: perception stage, reasoning stage, decision-making stage, and execution stage. The perception stage is to process the obtained external information, and calculate the expected distance and speed difference of the following car driver at the current moment; the...

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Abstract

The invention discloses a vehicle following behavior prediction method under an Apollo platform. In the construction process, dynamic information and static information in vehicle driving are obtainedthrough scene understanding; the expected distance and reaction time of a driver are obtained by capturing behavior characteristics of the driver, the defuzzification process of a vehicle following model is improved by adopting a heuristic search algorithm, and the optimal solution of the acceleration range of the following vehicle based on safety and comfort is obtained after calculation of a fuzzy reasoning model. And meanwhile, the Apollo simulation platform is used for testing and verifying the model, so that the accuracy and the practicability of the model are ensured. According to the method, the problem that only the speeds and accelerations of the guide vehicle and the following vehicle and the distance between the two vehicles are considered and the driving environment is not considered in the fuzzy theory and the artificial neural network method in the prior art is solved.

Description

technical field [0001] The invention belongs to the technical field of car-following behaviors of vehicles, and in particular relates to a method for predicting car-following behaviors of vehicles under the Apollo platform. Background technique [0002] Transportation is the tool and environment for citizens to travel. With the improvement of my country's economic level, the development of scientific and technological level, and the acceleration of urbanization, citizens have raised higher requirements for the demand and quality of travel while improving their living standards. However, the development and growth of first- and second-tier cities, the continuous increase of urban population density, and the improvement of citizens' purchasing power for automobile consumption have caused urban traffic loads to increase year by year. The size of the urban area and the limitation of road network traffic resources have caused congestion and congestion in urban traffic, seriously...

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Application Information

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IPC IPC(8): G06F30/20G06N5/04
CPCG06N5/048Y02T10/40
Inventor 费蓉李莎莎吴昊铮刘方李爱民唐瑜王战敏
Owner XIAN UNIV OF TECH
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