重庆理工大学学报2024，Vol.38Issue(19)：1-12,12.DOI:10.3969/j.issn.1674-8425(z).2024.10.001
周车轨迹预测不确定性智能车避撞策略研究
Research on intelligent vehicle collision avoidance strategy based on uncertainty of surrounding vehicle trajectory prediction
摘要
Abstract
This paper proposes a research method for an intelligent vehicle collision avoidance strategy based on the uncertainty of trajectory prediction of surrounding vehicles.The trajectory prediction module combines physics-based trajectory prediction models with data-driven models to construct a physics-guided trajectory prediction model(PG-LSTM).The model outputs parameters of a two-dimensional Gaussian distribution for the predicted trajectories of surrounding vehicles to represent the uncertainty of drivers'behaviors.The risk assessment and collision avoidance strategy module,leveraging the output of the trajectory prediction model,introduces a new risk metric-Predictive Driving Risk(PDR)and Predictive Relative Driving Risk Index(PRDRI)as reference indicators for assessing future risks,establishing a collision avoidance decision-making mechanism for emergent situations.Complex emergency scenarios are simulated using Carsim.Our results indicate the proposed driving risk assessment model accurately identifies future driving risks in complex driving scenarios.Moreover,the collision avoidance decision mechanism based on driving risk enhances the collision avoidance safety of intelligent vehicles.关键词
智能汽车/驾驶风险/轨迹预测/避撞策略Key words
intelligent vehicle/driving risk/trajectory prediction/collision avoidance strategy分类
交通工程引用本文复制引用
陈龙,王歆叶,熊晓夏,蔡英凤,刘擎超,王海..周车轨迹预测不确定性智能车避撞策略研究[J].重庆理工大学学报,2024,38(19):1-12,12.基金项目
国家自然科学基金项目((52002154,52372413,52225212,U20A20331) （(52002154,52372413,52225212,U20A20331）
国家重点研发项目(2023YFB2504403) （2023YFB2504403）
