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Method, device, equipment and vehicle for predicting vehicle lane change

A prediction method and lane-changing technology, applied in the traffic control system of road vehicles, neural learning methods, instruments, etc., can solve problems such as the inability to process complex interactive information of time-series information, achieve accurate and reliable lane-changing predictions, and improve safety Effect

Active Publication Date: 2022-01-04
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of method only uses the information at a certain moment, and cannot deal with the complex interaction information between time series information and vehicles.

Method used

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  • Method, device, equipment and vehicle for predicting vehicle lane change
  • Method, device, equipment and vehicle for predicting vehicle lane change
  • Method, device, equipment and vehicle for predicting vehicle lane change

Examples

Experimental program
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Effect test

Embodiment 1

[0054] figure 1 It is a flow chart of a method for predicting a vehicle lane change provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where the target vehicle is predicted to change lanes, and the method can be executed by a vehicle lane change prediction device. Such as figure 1 As shown, the method specifically includes the following steps:

[0055] Step 110, determine whether the target vehicle has lane-changing intention according to the motion state information of the target vehicle.

[0056]Wherein, the motion state information includes lateral speed and lane line information. In addition, the motion state information may also include but not limited to lateral coordinates, longitudinal coordinates, longitudinal speed, longitudinal acceleration and lateral acceleration. Specifically, one or more sensors may be used to obtain motion state signals of the target vehicle and its surrounding vehicles, and the motion state inf...

Embodiment 2

[0089] Figure 4 It is a schematic structural diagram of a vehicle lane change prediction device provided in Embodiment 2 of the present invention. Such as Figure 4 As shown, the device includes: a lane change intention determination module 210 , a real lane change category determination module 220 , a motion track determination module 230 , and a lane change result determination module 240 .

[0090] A lane-changing intention determination module 210, configured to determine whether the target vehicle has a lane-changing intention according to the motion state information of the target vehicle.

[0091] Optionally, the lane change intention determination module 210 is also used for:

[0092] If the direction of the lateral velocity of the target vehicle is the same as the direction of the relative position of the target vehicle to the centerline of the lane, and the lateral velocity of the target vehicle is greater than the speed threshold, the target vehicle has lane chan...

Embodiment 3

[0108] Figure 5 It is a schematic structural diagram of a computer device provided by Embodiment 3 of the present invention. Figure 5 A block diagram of a computer device 312 suitable for implementing embodiments of the invention is shown. Figure 5 The computer device 312 shown is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present invention. Device 312 is typically a computing device for predictive functionality of vehicle lane changes.

[0109] Such as Figure 5 As shown, computer device 312 takes the form of a general-purpose computing device. Components of computer device 312 may include, but are not limited to: one or more processors 316, storage device 328, bus 318 connecting various system components including storage device 328 and processor 316.

[0110] Bus 318 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an acceler...

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PUM

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Abstract

The embodiment of the present invention discloses a lane change prediction method for a vehicle, which includes: determining whether the target vehicle has a lane change intention according to the motion state information of the target vehicle; The motion state information determines the real lane change category; if the real lane change category is the set category, then determine the trajectory of the target vehicle and surrounding vehicles; determine the lane change result of the target vehicle according to the trajectory. The vehicle lane change prediction method provided by the embodiment of the present invention uses the motion state information of the target vehicle at the current moment and the previous moment to predict its lane change intention, and uses the motion state information of the target vehicle and surrounding vehicles to predict whether the lane change is successful, It can realize more accurate and reliable lane change prediction for the target vehicle, and improve the safety of automatic driving.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicle automatic driving, and in particular to a prediction method, device, equipment and vehicle for vehicle lane change. Background technique [0002] At present, autonomous driving technology is developing rapidly, and mid-to-high-end models at home and abroad are all equipped with automatic driving functions. In mass-produced vehicles equipped with ADAS functions, in addition to the perception and judgment of target signals such as surrounding obstacles, it is also necessary to have the ability to predict the movement trend of surrounding vehicles. [0003] At present, most of the methods are traditional machine learning methods, which take the given real-time state information of the vehicle as input and the vehicle's lane change intention as output. These methods obtain the best prediction results by inferring the mapping function. This type of method only uses information at...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/16G06K9/62G06N3/04G06N3/08
CPCG08G1/167G08G1/166G06N3/08G06N3/045G06F18/2415G06F18/241
Inventor 魏源伯王祎男关瀛洲付仁涛
Owner CHINA FIRST AUTOMOBILE
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