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Comfort evaluation and trajectory planning method and device for intelligent vehicle lane-changing based on support vector machine

A technology of support vector machine and trajectory planning, applied in computer parts, character and pattern recognition, instruments, etc., can solve problems such as less consideration of lane changing comfort

Active Publication Date: 2022-02-15
紫清智行科技(北京)有限公司
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Problems solved by technology

[0004] Lane-changing scenarios are one of the most common driving scenarios. The lane-changing decisions of existing unmanned vehicles are mostly planned based on safety and efficiency, and the comfort of lane-changing is seldom considered. Extremely sensitive to lateral acceleration

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  • Comfort evaluation and trajectory planning method and device for intelligent vehicle lane-changing based on support vector machine
  • Comfort evaluation and trajectory planning method and device for intelligent vehicle lane-changing based on support vector machine
  • Comfort evaluation and trajectory planning method and device for intelligent vehicle lane-changing based on support vector machine

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Embodiment Construction

[0064] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0065] Such as figure 1 As shown, the support vector machine-based intelligent vehicle lane-changing comfort evaluation and trajectory planning method provided by the embodiment of the present invention include:

[0066] Step 1. According to the personalized style of lane-changing trajectories selected by the occupant, a cluster of feasible lane-changing trajectories is generated.

[0067] Among them, the personalized lane-changing trajectory includes three types of personalized lane-changing trajectory styles: aggressive, moderate and conservative, and the occupants can choose one of the personalized lane-changing trajectory styles according to personal preferences. The personalized style of lane-changing trajectories is extracted from a large number of natural driving data sets of excellent human drivers, and the extracted lane-changing trajectorie...

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Abstract

The invention discloses a support vector machine-based intelligent vehicle lane change comfort evaluation and its trajectory planning method and device. The method includes: step 1, generating a feasible lane change trajectory cluster according to the personalized style of the lane change trajectory selected by the occupant ; Step 2, using the lane-changing comfort evaluation model to evaluate the comfort value corresponding to each of the lane-changing trajectories generated in the step 1; Step 3, according to each of the lane-changing trajectories calculated in the step 2 Corresponding to the evaluation value, select the optimal lane-changing trajectory, output the corresponding vehicle control command, manipulate the vehicle chassis controller to perform the lane-changing operation, and obtain the current lane-changing trajectory and vehicle motion parameters; step 4, use the lane-changing comfort model Evaluate online whether the comfort value of the current lane-changing trajectory satisfies the set value, and if so, execute the current lane-changing trajectory; otherwise, return to step 2 to re-evaluate the comfort value of the current lane-changing trajectory. The invention constructs the comfort evaluation model of the lane change model, which provides favorable conditions for the rationality evaluation of the lane change decision of the smart car.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a support vector machine-based intelligent vehicle lane-changing comfort evaluation and a trajectory planning method and device. Background technique [0002] The development of sensors and automation technology has strongly promoted the development of smart car technology. On this basis, unmanned driving is gradually becoming a reality, but the current smart car still faces some challenges. How to make the decision-making of smart cars more in line with human The judgment of an excellent driver is one of the technical bottlenecks encountered by the current smart car technology. [0003] People have endowed smart cars with simulation and even surpassing the expectations of excellent human drivers. In order to make the designed smart cars more energy-saving, environmentally friendly and safe, it is necessary to extract data that meets the needs of specific scenarios from...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/27G06K9/62B60W30/18B60W60/00G06F111/10
CPCG06F30/27B60W30/18B60W60/00G06F2111/10B60W30/18163B60W60/0013G06F18/214G06F18/2411
Inventor 王雷王更泽王毅
Owner 紫清智行科技(北京)有限公司
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