基于驾驶人视角的换道行为分析及及换道模型搭建
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- 英文论文题名：Lane-Changing Behavior Analysis and Trajectory Planning from Driver's Visual Angle
- 论文作者：周彬 ; 王云鹏 ; 余贵珍 ; 吴新开 ; 王章宇
- 英文论文作者：Zhou Bin ; Wang Yunpeng ; Yu Guizhen ; Wu Xinkai ; Wang Zhangyu ; Beihang University ; Beihang University ; Beijing Key Laboratory for Cooperative Vehiclelnfrastructure Systems and Safety Control
- 年：2016
- 作者机构：北京航空天大学交通科学与工程院;北京航空天大学车路协同与安全控制北京市重点实验室;
- 论文关键词：换道行为 ; 换道轨迹 ; 单目视觉 ; 参照角
- 英文论文关键词：lane-change behavior ; trajectory ; monocular visual ; reference angle
- 会议召开时间：2016-10-26
- 会议录名称：2016中国汽车工程学会年会论文集
- 英文会议录名称：Proceedings of 2016 SAE-China Congress
- 语种：中文
- 分类号：U491.25;TP391.41
- 学会代码：QCGC
- 会议名称：2016中国汽车工程学会年会暨展览会
- 会议地点：中国上海
- 主办单位：中国汽车工程学会
- 学会名称：中国汽车工程学会
- 页数：4
- 文件大小：1011k
- 原文格式：O
- 会议级别：全国
摘要
本文介绍通过建立一个驾驶人数据采集系统,依据驾驶人预瞄机理使用行驶记录仪获取换道过程中驾驶入视角的视频图像;运用单目视觉车道线识别算法对图像进行处理,通过分析换道视频,提出新的换道基准——换道参照角,并给出了定义和表达式;提出了一种基于驾驶人视角的换道轨迹模型,并通过理论分析,验证了该轨迹模型的合理性及有效性。
Frist,it is necessary to build a driving date collection system.Second,using the vehicle traveling data recorder based on the driver preview mechanism,we get some meaningful images in the processing of lane-change.According to the data analysis,we get a lane-change benchmark which is called reference angle of lane-change.Subsequently,we propose a lane-change trajectory model based on the perspective of the driver during the lane- change maneuver.The rationality and validity of the model are verified by theoretical and experimental analysis.
Frist,it is necessary to build a driving date collection system.Second,using the vehicle traveling data recorder based on the driver preview mechanism,we get some meaningful images in the processing of lane-change.According to the data analysis,we get a lane-change benchmark which is called reference angle of lane-change.Subsequently,we propose a lane-change trajectory model based on the perspective of the driver during the lane- change maneuver.The rationality and validity of the model are verified by theoretical and experimental analysis.
引文
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[3]李玮,高德芝.段建民.智能车辆自由换道模型研究[J].公路交通科技,2010(27):119-123.
[4]K Schmidt,M Beggiato,K H Hoffmann,and J F Krems.A mathematical model forpredicting lane changes using the steering wheel angle[J].J Safety Res,2014(49):85-90.
[5]G Xu,L Liu,Y Ou,and Z Song.Dynamic modeling of driver control strategy of lane-change behavior and trajectory planning for collision prediction[J].Intelligent Transportation Systems,IEEE Transactions 2012(13):1138-1155.
[6]W Yao,H Zhao,P Bonnifait,and H Zha.Lane change trajectory prediction by using recorded human driving data[C].in Intelligent Vehicles Symposium(IV),2013IEEE,430-436.
[7]郭孔辉.预瞄跟随理论与人.车闭环系统大角度操纵运动仿真[J]汽车工程,1992(1):1-11.
[2]K Enke.Possibilities for Improving Safety Within the Driver Vehicle Environment Controlop[C].in proceedings of the 7th International technological conference on experimental safety vehicles,1979:789-802.
[3]李玮,高德芝.段建民.智能车辆自由换道模型研究[J].公路交通科技,2010(27):119-123.
[4]K Schmidt,M Beggiato,K H Hoffmann,and J F Krems.A mathematical model forpredicting lane changes using the steering wheel angle[J].J Safety Res,2014(49):85-90.
[5]G Xu,L Liu,Y Ou,and Z Song.Dynamic modeling of driver control strategy of lane-change behavior and trajectory planning for collision prediction[J].Intelligent Transportation Systems,IEEE Transactions 2012(13):1138-1155.
[6]W Yao,H Zhao,P Bonnifait,and H Zha.Lane change trajectory prediction by using recorded human driving data[C].in Intelligent Vehicles Symposium(IV),2013IEEE,430-436.
[7]郭孔辉.预瞄跟随理论与人.车闭环系统大角度操纵运动仿真[J]汽车工程,1992(1):1-11.