Multi-scene-oriented intelligent driving autonomous lane change performance test method

Abstract

The invention discloses a multi-scene-oriented intelligent driving autonomous lane change performance test method. The method comprises:firstly, establishing a lane change dynamic model based on a kinematics bicycle model according to motion characteristics in an autonomous lane change process; secondly, conducting filtering estimation on state variables such as the position, the speed and the azimuth angle of the vehicle through an improved unscented Kalman filtering algorithm; and finally, based on accurately recursivevehicle key basic performance parameters, constructing a lane change performance evaluation index system, and quantifying and outputting evaluation indexes of the autonomous lane change performance, including a target gap, distance collision time and doubling yaw stability,so as to realize high-precision and high-frequency measurement and scientific quantitative evaluation of the advantages and disadvantages of the intelligent driving autonomous lane change performance.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a multi-scenario-oriented test method for autonomous lane change performance of intelligent driving. Background technique [0002] With the continuous development of my country's economy, the development of transportation is facing the dual pressure of providing equal public services with wider coverage and ensuring road traffic safety and efficiency. According to statistics, the ratio of all traffic accidents is as high as 50% because of the traffic accidents caused by automobiles deviating from the normal driving lane. In order to effectively reduce the occurrence of traffic accidents caused by untimely lane changes, the function of intelligent driving autonomous lane change (merging) has become an important part of intelligent driving technology, and its performance is the prerequisite for ensuring the safety of intelligent driving vehicles on the road. Therefore,...

AI Technical Summary

Problems solved by technology

However, for the test of autonomous lane-changing performance of intelligent driving, there is still a lack of clear and unified test methods and

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