CLC number: TP391
On-line Access: 2021-11-15
Received: 2020-08-30
Revision Accepted: 2021-06-06
Crosschecked: 2021-09-02
Cited: 0
Clicked: 5127
Citations: Bibtex RefMan EndNote GB/T7714
Zhengcai Yang, Zhenhai Gao, Fei Gao, Xinyu Wu, Lei He. Lane changing assistance strategy based on an improved probabilistic model of dynamic occupancy grids[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2000439 @article{title="Lane changing assistance strategy based on an improved probabilistic model of dynamic occupancy grids", %0 Journal Article TY - JOUR
基于动态占用网格改进概率模型的换道辅助策略1吉林大学汽车仿真与控制国家重点实验室,中国长春市,130022 2湖北汽车工业学院汽车工程学院,中国十堰市,442002 摘要:自动驾驶汽车换道辅助是一个热门研究课题。驾驶区域场景建模是解决换道决策问题的前提。提出一种基于动态占用网格的道路环境表示方法。该模型将车辆速度、障碍物、车道线和交通规则等信息封装成一种空间驾驶概率的形式。这些信息被编译成哈希表,通过哈希函数将网格图映射到一个哈希图中。利用该模型建立一个车辆行为决策成本方程,该方程基于最小成本原则,同时考虑车辆驾驶性能、安全性和动力等影响因素,辅助驾驶员做出准确换道决策。通过车辆测试验证了该换道辅助策略的可行性。结果表明,基于动态占用网格概率模型的换道辅助系统可为驾驶者提供兼顾动力和安全性的换道辅助。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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