虚拟自主汽车智能驾驶行为模型的研究及实现

通过对智能驾驶行为的特点分析，提出了一种更符合实际情况的虚拟自主汽车智能驾驶行为模型。将复杂的驾驶行为分为五个单元，即感知单元、情感单元、碰撞避免单元、决策单元和操作单元，每个单元都代表一定驾驶行为，考虑了人的性格、心情、驾驶经验和驾驶技能等因素，并各自有其模糊变量和模糊规则。另外，该模型将自主汽车的3D模型与驾驶行为模型分开，使其更具通用性。并基于此模型，利用EON Reality^TM虚拟现实软件开发了一部具有激进型驾驶行为的虚拟自主汽车。应用结果表明：该模型通用、有效，为模拟驾驶器提供更加丰富、完善的虚拟交通场景，同时也可为无人驾驶汽车提供智能行为模型，尤其是碰撞避免单元的增加为汽车安全驾驶提供了有效的预警模型。

Research and Implementation on Intelligent Driving Behavior Model of Virtual Autonomous Vehicle

By analyzing the characters of intelligent driving behavior, a more satisfying intelligent driving behavior model of virtual autonomous vehicle was developed. It is divided into five units which are Perception Unit, Emotion Unit, Collision-Avoidance Unit, Decision Unit and Implementation Unit. Each unit describes the certain driving behavior and has its own set of fuzzy variables and fuzzy rules. Moreover the 3D model and behavior model are divided which makes the virtual autonomous vehicle model more usable. An Aggressive Driving Model was developed by EON Reality software. The result shows that the intelligent driving behavior model of autonomous vehicle provides more colorful and perfect virtual traffic environment in driving simulation, and it can also provide the nobody-driving vehicle with intelligent behavior model, and especially the pre-emergency model to the safety driving for the Collision-Avoidance Unit is added into the model.