等效驾驶员行为的SSIDM建模机制研究

IF 2.6 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC World Electric Vehicle Journal Pub Date : 2023-09-01 DOI:10.3390/wevj14090242
Rui Fang
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引用次数: 0

摘要

为解决汽车跟随模型和变道模型之间的平稳切换问题,采用单车道智能驾驶员模型(IDM),研究驾驶员正常跟随、产生变道意图、创造空间和速度增益、执行变道的行为切换机制。在有足够的变道空间和速度增益的情况下,考虑自我车辆的变道意图,求解跟车行为与变道行为的切换边界,这也是IDM失效点。在无变道增益的情况下,结合目标车道车辆的约束分量,结合自我车辆的实际运动状态,对IDM进行优化,构建无级切换智能驾驶员模型(SSIDM)。采集驾驶员自然驾驶信息,在结构化道路上进行场景挖掘。在采集数据的基础上,利用椭圆方程拟合行为切换边界,识别出目标车道上前后车辆的双分量平衡系数。测试集验证结果表明,SSIDM的均方误差(Mean Square Error, MSE)为2.172,比传统单车道IDM减小了57.98%。与IDM相比,SSIDM可以实现与驾驶员行为相当的车辆跟随行为和变道行为之间的无级切换,精度更高。本研究可为点对点驾驶模型的构建和L2+自动驾驶功能的开发提供理论支持。可为全行为、全场景自动驾驶的落地和应用提供辅助。
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Research on the SSIDM Modeling Mechanism for Equivalent Driver’s Behavior
To solve the problem of smooth switching between the car-following model and lane-changing model, the Intelligent Driver Model (IDM) for a single lane was used to study the driver’s behavior switching mechanism of normally following, generating intentions to change lanes, creating space and speed gains, and performing lane change. In the case of sufficient lane-changing space and speed gains, the ego vehicle’s intention to change lanes was considered to solve the switching boundary between car-following behavior and lane-changing behavior, which is also the IDM failure point. In the event that there are no lane-changing gains, the IDM was optimized by incorporating the constraint components of the target lane vehicles in conjunction with the actual motion state of the ego vehicle, and the Stepless Switching Intelligent Driver Model (SSIDM) was constructed. Drivers’ natural driving information was collected, and scenario mining was performed on structured roads. On the basis of the collected data, an elliptic equation was used to fit the behavior switching boundary, and the two component balance coefficients of the front and rear vehicles on the target lane were identified. According to the test set verification results, the Mean Square Error (MSE) of the SSIDM is 2.172, which is 57.98% less than that of the conventional single-lane IDM. The SSIDM can accomplish stepless switching comparable to the driver’s behavior between the car-following behavior and the lane-changing behavior, with greater precision than IDM. This research can provide theoretical support for the construction of the point-to-point driving model and the development of L2+ autonomous driving functions. It can provide assistance for the landing and application of full-behavior and full-scene autonomous driving.
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来源期刊
World Electric Vehicle Journal
World Electric Vehicle Journal Engineering-Automotive Engineering
CiteScore
4.50
自引率
8.70%
发文量
196
审稿时长
8 weeks
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