Anthropomorphic random lane changing driving behavior modeling method

Abstract

The invention discloses an anthropomorphic random lane changing driving behavior modeling method, and belongs to the technical field of human driver modeling. The invention aims to provides a lane changing track generation method which considers lane changing psychological motivations / driving styles and associated driving styles of a human driver in a transverse lane changing driving scene, such as 'car following tolerance ', 'lane changing comity' and the like, and anthropomorphic characteristics of preview execution and the like in a lane changing process. A full-chain anthropomorphic lane changing process probability model covering motivation excitation, rational decision and preview execution is established, and the anthropomorphic random lane changing driving behavior modeling method of the anthropomorphic effect of a lane changing model is achieved. A lane changing scene driving segment database logic extraction module, a lane changing psychological motivation module, a stylized lane changing track planning module and a lane changing preview execution module are included. According to the method, the problem of difficulty in anthropomorphic feature extraction in a lane changing scene is solved, and the usability, effectiveness and anthropomorphic effect of a lane changing model are improved.

Description

technical field [0001] The invention belongs to the technical field of human driver modeling. Background technique [0002] Driver behavior modeling in typical scenarios such as car following and lane changing is an important topic in the field of autonomous driving research. In the development process of autonomous driving technology, the scene of autonomous driving vehicles and human-driving vehicles will last for a long time. The reaction behavior of human-driven vehicles to the surrounding traffic conditions directly affects the decision-making behavior of autonomous vehicles. Lane changing is the most typical scene in the process of vehicle driving, and the establishment of an anthropomorphic random lane changing driving model is an important link in the research of driver behavior, the development of automobile intelligent assisted driving system and its safety evaluation. [0003] Lane-changing model establishment includes lane-changing decision-making, lane-changin...

AI Technical Summary

Problems solved by technology

However, the anthropomorphic random lane-changing driving behavior model that integrates the three modules of lane-changing decision, lane-changing planning and lane-changing execution is still blank in the field of lane-changing models, and human psychological factors are not considered when considering lane-changing decisions. (such as patience, courtesy, etc.) are integrated into the lane change decision, resulting in poor interaction between the background vehicle and the test vehicle in the test scene, and the test effect is not obvious

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