Driving style recognition model based on recurrence plot and convolutional neural network, lane changing decision model and decision method

Abstract

The invention discloses a driving style recognition model based on a recurrence plot and a convolutional neural network, a lane changing decision model and a decision method, and the method comprises the steps: introducing a driving style as a comprehensive judgment basis, and obtaining an accelerator pedal, a brake pedal and a steering wheel corner signal; acquiring the driving environment of a current vehicle and the driving information of surrounding vehicles through a vehicle-mounted camera and a laser radar; sampling the data to the same frequency, performing normalization processing, and generating a recurrence plot of the own vehicle and the surrounding vehicles from the data by using a recurrence plot generation algorithm; and then, inputting the recurrence plot into the convolutional neural network to obtain a driving style corresponding to each vehicle; and finally, introducing a decision-making cost function, comprehensively considering driving style factors of the vehicle and surrounding vehicles, and establishing a lane changing decision-making method by adjusting a weight coefficient of the decision-making cost function, so that a lane changing decision-making result has tendency and fits the driving style of the vehicle; and humanized, safe and reasonable driving operation is realized.

Description

technical field [0001] The invention relates to the technical field of smart cars, in particular to a driving style recognition model based on a recursive graph and a convolutional neural network, a lane change decision model and a decision method. Background technique [0002] With the development of intelligent driving technology, intelligent vehicles developed based on human-machine co-driving technology have been successfully applied in simple scenarios such as highways and urban expressways. However, the current lane-changing decision-making method for smart cars does not consider driving style factors, and cannot identify and deal with dangerous driving behaviors such as reckless cuts and random lane changes, which bring safety hazards to drivers and passengers. How to take into account the driving style of the own vehicle in the lane-changing scene of human-machine co-driving, and integrate the driving style of the surrounding vehicles into the decision-making, so as ...

AI Technical Summary

Problems solved by technology

However, the current lane-changing decision-making method of smart cars does not consider driving style factors, and cannot identify and deal with dangerous driving behaviors such as reckless cuts and random lane changes, which brings safety hazards to drivers and passengers.

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