The invention discloses an automatic driving decision-making method and system suitable for a long-distance urban road. The method comprises the steps of obtaining a forward image, a vehicle pose, a vehicle speed and map information of a controlled vehicle and directed weighted graph information of a current scene; splitting the current driving task into a plurality of sub-driving tasks according to the acquired information, and drawing a local map of each to-be-executed sub-driving task according to map information, a vehicle pose and a target position of each sub-driving task; and obtaining a forward image feature code, a local map visual feature code and a map space information code, generating a control signal based on the codes, and controlling the controlled vehicle to execute the current to-be-executed sub-driving task. According to the method and system, feature codes required by driving control are mined through task information, map information, speed information and forward image information, so that long-distance urban road automatic driving is achieved.

    本发明公开了一种适用于长距离城市道路的自动驾驶决策方法及系统,该方法包括:获取被控车辆的前向图像、车辆位姿、车辆速度,地图信息以及当前场景的有向加权图信息;根据获取到的信息,将当前驾驶任务拆分成多个子驾驶任务,并根据地图信息、车辆位姿以及各子驾驶任务的目标位置,绘制出每一待执行的子驾驶任务的局部地图;获取前向图像特征编码、局部地图视觉特征编码和地图空间信息编码,并基于此生成控制信号,控制被控车辆执行当前待执行的子驾驶任务。本发明通过任务信息、地图信息、速度信息和前向图像信息,挖掘驾驶控制所需特征编码,从而实现了长距离的城市道路自动驾驶。


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    Titel :

    Automatic driving decision-making method and system suitable for long-distance urban road


    Weitere Titelangaben:

    一种适用于长距离城市道路的自动驾驶决策方法及系统


    Beteiligte:
    MA HUIMIN (Autor:in) / ZHANG XIAOQIN (Autor:in) / WU MOUYU (Autor:in) / HU TIANYU (Autor:in)

    Erscheinungsdatum :

    2021-06-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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