A system and method for predicting the motion state of surrounding vehicles based on driving intention

Abstract

The invention discloses a system and method for predicting the motion state of surrounding vehicles based on driving intentions. The system includes: a feasible trajectory set generation module, behavior intention generation and predicted trajectory generation module; a feasible trajectory set generation module, according to the result of global path planning, Determine the current lanes that the target vehicle can drive, and generate feasible trajectories; the behavioral intention inference module predicts the probability of the target vehicle choosing a different lane by analyzing the target vehicle’s satisfaction with different lanes, traffic regulations, and the state of the vehicle; prediction trajectory generation The module, according to the generated feasible trajectory set and the result of the probability of the corresponding trajectory, is fused to obtain the predicted trajectory. The invention solves the problem of ignoring the interactive influence between the environment and the driver and the dynamically changing environment when predicting the state of the vehicle in the prior art.

Description

technical field [0001] The invention belongs to the technical field of vehicle driving, and specifically refers to a system and method for predicting the motion state of surrounding vehicles based on driving intention. Background technique [0002] With the increasing number of cars, road traffic tends to be denser and more complicated, which leads to an increase in driving pressure, which reduces the driving ability of drivers in normal traffic scenarios and greatly increases the probability of traffic accidents. Among them, lane-changing behavior is one of the important causes of traffic accidents and traffic congestion, especially in urban areas, where the traffic density is high, and lane-changing collisions are prone to occur, even leading to serial rear-end collisions. The vast majority of lane-changing collision accidents are due to the inaccurate perception of the motion state and position information of the surrounding vehicles by the lane-changing vehicle and wrong...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a system and method for predicting the motion state of surrounding vehicles based on the driving intention of an autonomous vehicle, so as to solve the problem of ignoring the relationship between the environment and the driver when predicting the state of the vehicle in the prior art. The problem of interactive influences and dynamically changing environments

Images