The invention discloses a speed decision-making method and device based on a probability grid map, and a related product. The method comprises the following steps: establishing an ST probability grid map in a frenet coordinate system by taking the position of a vehicle as an original point; in the ST probability grid map, a grid point where the vehicle position is located serves as a father node, and a plurality of expanded grid points meeting a preset condition are expanded according to the search step length; taking each expanded grid point as a father node to continuously expand the plurality of expanded grid points meeting a preset condition according to the search step length; searching round by round until a preset termination condition is met, so as to obtain a plurality of paths and corresponding speed decision results; for each path, calculating the total cost of the path according to the occupancy probability of each grid point included in the path and the relative distance between the path and the obstacle; determining a plurality of candidate speed decision results according to the total cost corresponding to the plurality of paths; and selecting a target speed decision result from the plurality of candidate speed decision results. According to the embodiment of the invention, the safety of the final speed decision result can be better ensured.
本发明公开一种基于概率栅格图的速度决策方法及其装置、相关产品,方法包括:以自车位置为原点在frenet坐标系中建立ST概率栅格图;在ST概率栅格图中以自车位置所在栅格点为父节点,按照搜索步长扩展满足预设条件的多个扩展栅格点;将每个扩展栅格点作为父节点继续按照搜索步长扩展满足预设条件的多个扩展栅格点;逐轮搜索直到满足预设终止条件,以得到多条路径及其对应的速度决策结果;针对每条路径,根据路径包含的各栅格点的占据概率及其与障碍物的相对距离计算路径的总代价;根据多条路径对应的总代价确定多个候选速度决策结果;从多个候选速度决策结果中选取目标速度决策结果。本发明实施例可以更好地保证最终速度决策结果的安全性。
Speed decision-making method and device based on probability grid map, and related product
基于概率栅格图的速度决策方法及其装置、相关产品
2022-06-17
Patent
Elektronische Ressource
Chinesisch
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 |
Probability-Based Decision Making for Automated Highway Driving
SAE Technical Papers | 1991
|Probability-based decision making for automated Highway driving
Kraftfahrwesen | 1991
|Intelligent vehicle lane changing decision-making method based on probability output model
Europäisches Patentamt | 2021
|Decision making in product assurance
Tema Archiv | 1985
|