Frontiers of Information Technology & Electronic Engineering
>> 2021,
Volume 22,
Issue 11
doi:
10.1631/FITEE.2000439
Lane changing assistance strategy based on an improved probabilistic model of dynamic occupancy grids
Affiliation(s): State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China; School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan 442002, China; less
Received: 2020-08-30
Accepted: 2021-11-15
Available online: 2021-11-15
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Abstract
in autonomous vehicles is a popular research topic. Scene modeling of the driving area is a prerequisite for lane changing decision problems. A road environment representation method based on a dynamic occupancy grid is proposed in this study. The model encapsulates the data such as vehicle speed, obstacles, lane lines, and traffic rules into a form of spatial drivability probability. This information is compiled into a hash table, and the grid map is mapped into a hash map by means of hash function. A vehicle behavior decision cost equation is established with the model to help drivers make accurate vehicle lane changing decisions based on the principle of least cost, while considering influencing factors such as vehicle drivability, safety, and power. The feasibility of the strategy is verified through vehicle tests, and the results show that the system based on a of dynamic can provide to drivers taking into consideration the dynamics and safety.
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