The invention relates to the technical field of automatic driving, in particular to a behavior decision-making method and device for an automatic driving vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining the transverse speed of at least one target around the vehicle and/or the transverse distance from the vehicle to a lane; according to the transverse distance and/or the transverse speed, the cut-in probability of each target entering the lane in the current sampling period is calculated, and when the cut-in probability of any target is larger than a first preset probability, it is judged that any target is a flicker dangerous target; and matching the penalty weight according to the cut-in probability of the flicker dangerous target in the current sampling period and/or the previous sampling period, calculating the weighted average probability of the flicker dangerous target according to the matched penalty weight, and controlling the vehicle to execute a preset deceleration action by utilizing the deceleration matched with the weighted average probability. Therefore, the problems that when the randomness of the environment target is large, the sensing algorithm mistakenly outputs the flicker target, the accuracy of the output result is not completely credible, and the driving stability is affected are solved.

    本申请涉自动驾驶技术领域,特别涉及一种自动驾驶车辆的行为决策方法、装置、车辆及存储介质,其中,方法包括:获取车辆周围至少一个目标的横向速度和/或距离本车道的横向距离;根据横向距离和/或横向速度计算每个目标在当前采样周期进入本车道的切入概率,并在任一目标的切入概率大于第一预设概率时,判定任一目标为闪烁危险目标;根据闪烁危险目标在当前采样周期和/或上一个采样周期的切入概率匹配惩罚权重,并根据匹配惩罚权重计算闪烁危险目标的加权平均概率,利用与加权平均概率匹配的减速度控制车辆执行预设减速动作。由此,解决了环境目标随机性较大时导致感知算法错误输出闪烁目标,输出结果准确性不完全可信,影响行车稳定性等问题。


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    Titel :

    Behavior decision-making method and device for autonomous vehicle, vehicle and storage medium


    Weitere Titelangaben:

    自动驾驶车辆的行为决策方法、装置、车辆及存储介质


    Beteiligte:
    WEI CHENGLEI (Autor:in) / ZHANG HUANQING (Autor:in) / KONG ZHOUWEI (Autor:in)

    Erscheinungsdatum :

    2022-11-22


    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



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