同济大学学报（自然科学版）2025，Vol.53Issue(3)：380-390,11.DOI:10.11908/j.issn.0253-374x.23239
无保护左转场景下冲突车辆意图识别与一致性分析
Recognizing Intentions of Conflicting Vehicles and Analyzing of Intention Consistency in Unprotected Left-Turn Scenarios
摘要
Abstract
Unprotected turns account for efficiency loss and even accidents for autonomous vehicles at intersections.Exploring the consistency direction and evolution process of human driver intentions in this scenario can expedite the achievement of mutual intention consistency between autonomous and human-driven vehicles,thereby enhancing safety and efficiency.This paper aims to explore the orientation of intention consistency and evolution of human driver intentions in unprotected left-turns to accelerate the mutual intention consistency between autonomous and human-driven vehicles.First,based on the XXJH dataset from the Xianxiajian Intersection in Shanghai,China,and the inD dataset from Germany,empirical trajectories of unprotected left-turn scenarios were extracted.Then,based on the principle of empathy,an indicator named cooperative acceleration was proposed to represent real-time intent inclination.The relationship between cooperative acceleration,time to conflict point(T),and unilaterally expected consistency direction was modeled using support vector machines.Furthermore,to explore the bilateral expected consistency orientation and its variation process,the aforementioned functions were mapped onto a coordinate space composed of the time to conflict point for left-turning vehicle and the opposite straight-going vehicles(i.e.,Tl and Ts).An analysis method called time-domain-based decision diagram was proposed.By mining the evolution process of human driver intentions in empirical data,the conflicting region of expected intentions(referred to as the"dilemma zone"in left-turn scenarios)was identified.In the inD dataset,the dilemma zone was located above the line Ts=Tl,while in the XXJH dataset,the overall distribution of the expected conflict zone was near this line.It indicated from the perspective of intent decision and evolution that straight-going traffic had higher priority in the inD dataset,while in the XXJH dataset,both left-turn and opposing straight-going traffic considered their priority to be roughly equal.The confidence time domain for consistency were mined,i.e.,the interaction state was in an area where the time to conflicting point was less than 2s and the convergence ratio was on average above 95%.Finally,this paper treated the results of intention recognition and consistency evolution as a priori knowledge to the interaction strategy of autonomous vehicles and discussed the intended cooperative decision and planning.关键词
自动驾驶汽车/人机混驾环境/冲突交互/意图一致性/决策时域图Key words
autonomous vehicles/mixed traffic flow environments/conflicting interaction/intention consistency/time-domain-based decision diagram分类
交通运输引用本文复制引用
周东浩,杭鹏,孙剑..无保护左转场景下冲突车辆意图识别与一致性分析[J].同济大学学报（自然科学版）,2025,53(3):380-390,11.基金项目
国家自然科学基金(52125208,52232015) （52125208,52232015）
中央高校学科交叉重点项目(2022-5-ZD-02) （2022-5-ZD-02）
