The invention relates to a driving strategy determination method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a directed acyclic graph and passing points corresponding to a target route, classifying nodes in the directed acyclic graph according to the attribute information of each passing point, and obtaining a first node set and a second node set; and pruning the driving strategy of each first node and the driving strategy of each second node in sequence from front to back and from back to front to obtain a forward strategy and a backward strategy, and splicing the forward strategy and the backward strategy to obtain a target driving strategy. According to the embodiment of the invention, each node in the directed acyclic graph is divided into the forward first node set and the backward second node set according to the corresponding position, pruning is carried out on the first node and each second node starting from the starting point and the ending point of the target route in each driving strategy in sequence, and an accurate target driving strategy is obtained after splicing. And the accuracy and the processing speed of the determination process are improved.
本公开涉及一种驾驶策略确定方法、装置、电子设备和存储介质,通过确定目标路线对应的有向无环图和通行点,并根据各通行点的属性信息对有向无环图中的节点进行分类,得到第一节点集合和第二节点集合。分别按照由前向后和由后向前的顺序依次对各第一节点的驾驶策略和第二节点的驾驶策略进行剪枝,得到前向策略和后向策略,拼接前向策略和后向策略得到目标驾驶策略。本公开实施例根据对应的位置将有向无环图中各节点划分为前向的第一节点集合和后向的第二节点集合,依次基于各驾驶策略中的目标路线起点和终点开始的第一节点和各第二节点分别进行剪枝,拼接后得到准确的目标驾驶策略,提高了确定过程的准确程度和处理速度。
Driving strategy determination method and device, electronic equipment and storage medium
驾驶策略确定方法、装置、电子设备和存储介质
2023-02-03
Patent
Elektronische Ressource
Chinesisch
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