基于环境态势评估的智能车自主变道决策机制

Decision-making Mechanism of Autonomous Lane-change for Intelligent Vehicles Based on Environment Situation Assessment

汽车面对的是复杂高动态的行驶环境,且车载传感器信息具有不确定性,对动态环境进行正确态势评估是提高车辆,尤其是智能车行驶安全性的关键因素之一,本文中基于环境态势评估对智能车自主变道决策机制进行研究。首先基于人类驾驶认知机理对车辆环境态势评估模型进行层次化分析,然后利用动态贝叶斯网络实现态势评估,并结合最大期望效用原则实现自主变道决策,最后通过实验验证了本文方法的有效性。结果表明,该方法能在动态复杂环境和车载传感器测量数据存在偏差等信息不确定的条件下,做出正确合理的变道决策。

Motor vehicles work in the complex and highly dynamic driving environment, with the informa-tion uncertainty of onboard sensors, so the correct situation assessment of dynamic environment is one of the key fac-tors to the safety of motor vehicles, in particular, intelligent vehicles. In this paper, the mechanism of autonomousline-change decision-making for intelligent vehicle is studied based on environment situation assessment. Firstly a hi-erarchy analysis on vehicle environment situation assessment model is conducted based on human driving cognitivemechanism. Then the dynamic Bayesian network is used to fulfill situation assessment, and autonomous line-changedecision-making is achieved with the principle of maximum expected utility. Finally, the effectiveness of the methodproposed is verified by experiments. The results show that the method proposed can make correct and reasonable de-cision for lane change under complex dynamic environment and the condition of information uncertainty such asmeasured data deviation of onboard sensors.