A method and system for extracting and analyzing trajectory primitives in a multi-vehicle interactive environment

Abstract

The invention relates to a method and system for extracting and analyzing trajectory primitives in a multi-vehicle interactive environment. The trajectory primitive extraction and analysis method in the multi-vehicle interactive environment, after collecting vehicle driving information and preprocessing the driving information to obtain the interaction group data, according to the interaction group data and based on the sticky hierarchical Dirichlet process and Hidden Markov The model divides the vehicle driving process into a combination of different original trajectory primitives. Then, the dynamic time warping algorithm is used to store driving information and the image normalization method is used to process the original trajectory primitives to obtain the trajectory primitive image. Finally, according to the trajectory primitive image Clustering processing obtains general trajectory primitives, and then realizes a modular understanding of the driving process in a multi-vehicle interactive environment, which is more suitable for real driving situations and has high practicability.

Description

technical field [0001] The invention relates to the technical field of automobile intelligent interaction, in particular to a method and system for extracting and analyzing trajectory primitives in a multi-vehicle interactive environment. Background technique [0002] At present, with the continuous increase of the number of traffic participants, the road condition information is becoming more and more complicated. The study of driving behavior in complex and dynamic traffic environments plays an important role in the development of advanced driver assistance systems, intelligent transportation systems, and autonomous driving. The trajectory primitive is a qualitative expression of driving behavior, which can reflect the driving behavior with certain characteristics. A complete driving process can be regarded as a combination of one or more trajectory primitives, for example: overtaking driving process It can be regarded as a combination of three trajectory primitives: lane...

AI Technical Summary

Problems solved by technology

The main problem of the above method is: ignoring the influence of historical time information on the result of primitive division, and at the same time, it is necessary to pre-set the type of trajectory primitives

Since the driving process is a continuous and dynamic interactive behavior, the driving operation at the historical moment will inevitably affect the subsequent driving process; at the same time, in the multi-vehicle complex interactive environment, the behavior of traffic participants has great uncertainty, so it is impossible to advance Predict the types of primitives that make up a certain driving process

The current understanding of trajectory primitives cannot focus on the multi-vehicle interactive environment, and has problems such as poor adaptability and low accuracy.

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