Method and device for identifying unreasonable lane changing behavior of vehicle and related equipment

Abstract

The invention discloses a vehicle unreasonable lane changing behavior identification method and device and related equipment, and the method comprises the steps: obtaining lane changing data, the lane changing data comprises data frames when a main vehicle runs from a lane changing initial position to a lane changing termination position, and employing the lane width in each data frame and the position information and state information of the main vehicle to identify the unreasonable lane changing behavior of the vehicle; the method comprises the following steps: determining a lane change degree, calculating to obtain a lane change transverse movement completion degree, determining a lane change comfort degree by using state information of a main vehicle in each data frame, calculating to obtain a lane change safety degree by using position information and state information of the main vehicle in each data frame and position information and state information of other vehicles, and determining a lane change degree based on the lane change transverse movement completion degree, the lane change comfort degree and the lane change safety degree. And identifying an unreasonable lane changing behavior of the main vehicle in the lane changing data. According to the method, the unreasonable lane changing behavior of the main vehicle is identified from three different directions by utilizing the lane changing transverse movement completion degree, the lane changing comfort degree and the lane changing safety degree, obtained through calculation, of the main vehicle, so that a corresponding lane changing algorithm is improved.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a method, device and related equipment for identifying unreasonable lane-changing behavior of vehicles. Background technique [0002] With the continuous development of science and technology, autonomous driving technology has become a key research direction in the automotive industry. Among them, changing lanes is a very important behavior in the driving process of self-driving vehicles. During the driving process, self-driving vehicles can use corresponding algorithms to realize lane changing in combination with the actual scene. At present, in the process of changing lanes, people are used to simply dividing the result of changing lanes into two situations: successful lane changing and lane changing failure. However, even in the case of a successful lane change, there may be dangerous behaviors such as emergency lane changes, too close to obstacles whe...

AI Technical Summary

Problems solved by technology

However, even in the case of a successful lane change, there may be dangerous behaviors such as emergency lane changes, too close to obstacles when changing lanes, or driving close to the sideline after lane changing. Such unreasonable lane changing behaviors may cause Therefore, how to identify the unreasonable lane-changing behavior of self-driving vehicles so as to improve the corresponding lane-changing algorithm has been a problem that people have been paying attention to.

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