Recognition Method of Vehicle Cluster Situation Based on Set Pair Logic considering Driver’s Cognition

Abstract

The recognition of vehicle cluster situations is one of the critical technologies of advanced driving, such as intelligent driving and automated driving. The accurate recognition of vehicle cluster situations is helpful for behavior decision-making safe and efficient. In order to accurately and objectively identify the vehicle cluster situation, a vehicle cluster situation model is proposed based on the interval number of set pair logic. The proposed model can express the traffic environment’s knowledge considering each vehicle’s characteristics, grouping relationships, and traffic flow characteristics in the target vehicle’s interest region. A recognition method of vehicle cluster situation is designed to infer the traffic environment and driving conditions based on the connection number of set pair logic. In the proposed model, the uncertainty of the driver’s cognition is fully considered. In the recognition method, the relative uncertainty and relative certainty of driver’s cognition, traffic information, and vehicle cluster situation are fully considered. The verification results show that the proposed recognition method of vehicle cluster situations can realize accurate and objective recognition. The proposed anthropomorphic recognition method could provide a basis for vehicle autonomous behavior decision-making.

Impact of Penetrations of Connected and Automated Vehicles on Lane Utilization Ratio

“…The methods of phase-field coupling and set pair logic are used to construct a lane selection model suitable for CAV, as shown in Figure 1. During lane selection, driving propensities of cluster vehicles [24,25] and vehicle cluster situation of target vehicle [26,27] should be identified first. Then the action order is determined by the location and driving propensity.…”

“…Here, the lane worth mainly considers the safety, efficiency, comfort and operating difficulty during lane-changing. During lane selection, driving propensities of cluster vehicles [24,25] and vehicle cluster situation of target vehicle [26,27] should be identified first. Then the action order is determined by the location and driving propensity.…”

“…In the above equations, f is the force of the vehicles in the interest region on the target vehicle, µ is the contribution rate of the target vehicle's comprehensive force from the vehicles in each subregion j (j = q, h, zq, zh, yq, yh), and Qj, Cj, CQ and Hj are the different sets of subregions. The specific definitions are same as [28], the specific values can refer to our previous research [26]. According to the analysis of lane worth, only the identical degree a k iλ and discrepancy degree b k iλ need to be considered.…”