融合运动学模型和行为认知模型的行车轨迹预测系统

• Format: Patent
• Language: Chinese
• Published: 14.02.2020
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

本发明公开了一种融合运动学模型和行为认知模型的行车轨迹预测系统，其特征是以交互混合模块对每个预测模块上一时刻的预测结果进行交互混合输出混合结果，混合结果用于下一时刻的预测；预测模块包括基于行为认知的行为认知轨迹预测模块和基于运动学的运动轨迹预测模块，行为认知轨迹预测模块和运动轨迹预测模块根据交互混合模块输出的混合结果进行预测，输出各预测模块的预测结果，预测结果包括车辆位置和协方差矩阵；融合更新模块根据预测结果对最终预测结果进行融合，并更新权重系数，输出未来某时刻车辆位置以及协方差矩阵。本发明能够在车辆行驶过程中不断估计车辆位置状态以及驾驶行为，预测行车轨迹，为智能驾驶决策提供帮助。 The invention discloses a driving trajectory predicting system integrating a kinematic model and a behavioral cognition model. The driving trajectory predicting system is characterized in that an interactive mixing module subjects the prediction result of each prediction module at a last time moment to interactive mixing to output a mixed result used for prediction at a next time moment; the prediction module comprises a behavioral cognition trajectory prediction module based on behavioral cognition and a motion trajectory prediction module based on kinematics; the behavioral cognition trajectory prediction module and the motion trajectory prediction module performs prediction according to the mixed result output by the