The invention relates to an automatic driving integrated decision-making method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining first state information of a target point in a world coordinate system, converting the first state information to a target coordinate system to obtain second state information, and obtaining initial transverse displacement and longitudinal speed of the target point deviating from a reference path at a target moment, based on a preset stabilization strategy and the function relation between the initial lateral displacement and the longitudinal speed, target point state information of a world coordinate system generation track is obtained, a safe track meeting basic dynamic constraint is generated, state-by-state constraint is carried out on the safe track, and the final lateral displacement and the longitudinal speed of a target point deviating from a reference path at the target moment are obtained; and generating an optimal safe trajectory of the vehicle, taking the optimal safe trajectory as output of the vehicle integrated decision system, and inputting the optimal safe trajectory into a lower-layer controller to control the vehicle. Therefore, the problem that a rule-based automatic driving decision-making system in a scene containing interactivity and uncertainty is difficult to realize high-level automation and intelligence is solved, and the intelligence of the decision-making system is improved.
本申请涉及一种自动驾驶集成决策方法、装置、车辆及存储介质,包括:获取目标点在世界坐标系的第一状态信息,并转换至目标坐标系下得到第二状态信息,同时获取目标点在目标时刻偏离参考路径初始横向位移及纵向速度,基于预设稳定策略和初始横向位移与纵向速度间函数关系,获得世界坐标系生成轨迹的目标点状态信息,生成满足基本动力学约束安全轨迹,对其进行逐状态约束,得到目标点在目标时刻偏离参考路径最终横向位移及纵向速度,生成车辆最优安全轨迹,作为车辆集成决策系统输出,输入到下层控制器,对车辆进行控制。由此,解决在含有交互性和不确定性场景基于规则的自动驾驶决策系统难以实现高级别自动化和智能性等问题,提升决策系统智能性。
Automatic driving integrated decision-making method and device, vehicle and storage medium
自动驾驶集成决策方法、装置、车辆及存储介质
2022-12-30
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 |
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