基于时空特征与交互关系建模的换道意图预测

高帅帅,魏诚,惠飞,张竟成,宋汉辰

Lane-changing intention prediction based on spatiotemporal feature and interaction modeling

Shuaishuai GAO,Cheng WEI,Fei HUI,Jingcheng ZHANG,Hanchen SONG

表 6 模型在环仿真测试的结果统计

Tab.6 Statistical result of model-in-the-loop simulation test

tin/s Aint/% tpre = 0~0.5 s tpre = 0.5~1.0 s tpre = 1.0~1.5 s tpre = 1.5~2.0 s tpre = 2.0~2.5 s tpre = 2.5~3.0 s tpre = 3.0~3.5 s 1.0 98.5 97.3 97.4 96.2 93.4 85.2 75.2 1.5 97.7 96.8 96.1 94.2 86.7 75.3 62.1 2.0 98.7 98.5 97.1 93.2 84.3 70.1 60.3