The embodiment of the invention provides an automatic driving decision planning method, electronic equipment and a computer storage medium, and the method comprises the steps: obtaining the driving perception information of a to-be-decided object in a continuous behavior space, wherein the driving perception information comprises geometric information, historical driving track information and map information related to the to-be-decided object; according to the driving perception information and the driving target information, obtaining a plurality of planning strategies conforming to Gaussian mixture distribution and strategy evaluation corresponding to each planning strategy; and performing decision planning on the to-be-decided object according to the plurality of planning strategies and the strategy evaluation corresponding to each planning strategy. According to the embodiment of the invention, decision planning can be effectively carried out in a strong interaction scene in automatic driving, and the decision effect is improved.

    本申请实施例提供了一种自动驾驶的决策规划方法、电子设备及计算机存储介质,其中,自动驾驶的决策规划方法包括:获取待决策对象在连续行为空间的行驶感知信息,其中,所述行驶感知信息包括:与所述待决策对象相关的几何信息、历史行驶轨迹信息和地图信息;根据所述行驶感知信息和行驶目标信息,获得符合混合高斯分布的多个规划策略及各个规划策略对应的策略评估;根据所述多个规划策略及各个规划策略对应的策略评估,为所述待决策对象进行决策规划。通过本申请实施例,可有效针对自动驾驶中的强交互场景下进行决策规划,提升决策效果。


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    Titel :

    Decision planning method for automatic driving, electronic equipment and computer storage medium


    Weitere Titelangaben:

    自动驾驶的决策规划方法、电子设备及计算机存储介质


    Beteiligte:
    CHEN JUNBO (Autor:in) / LEI LANXIN (Autor:in) / JING WEI (Autor:in) / WANG GANG (Autor:in)

    Erscheinungsdatum :

    2022-01-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES




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