The invention relates to the technical field of vehicle automatic driving, and discloses a decision planning architecture and implementation method of a network-connected automatic driving vehicle in an expressway scene, the decision planning architecture comprises a traffic road environment and a cloud planner algorithm, and the traffic road environment comprises a roadside sensing device and an automatic driving vehicle; the cloud planner algorithm comprises lane selection and trajectory planning, and the planning architecture comprises the following contents: S1, real-time traffic condition information is acquired through roadside sensing equipment, and in the architecture of the network-connected automatic driving vehicle planning decision in the highway scene, the real-time traffic condition information is acquired through the roadside sensing equipment; the driving track of the vehicle is planned in real time through the cloud server and is issued to the automatic driving vehicle, and the complete lane selection and track planning functions are executed on the cloud server, so that the complexity of a single vehicle intelligent system on the automatic driving vehicle is reduced; and the advantages of cost reduction and single vehicle technical difficulty of vehicle-road cooperative automatic driving are fully exerted.
本发明涉及车辆自动驾驶技术领域,且公开了高速公路场景下网联自动驾驶车辆的决策规划架构和实现方法,包括:交通道路环境以及云端的规划器算法,其中交通道路环境包含路侧感知设备以及自动驾驶车辆;其中云端的规划器算法包括车道选择以及轨迹规划,其规划架构包括以下内容:S1、通过路侧感知设备采集实时交通状况信息,高速公路场景下网联自动驾驶车辆规划决策的架构中,通过云端服务器实时规划车辆的行驶轨迹并下发至自动驾驶车辆,完整的车道选择和轨迹规划功能被放置在云端服务器上执行,降低了自动驾驶车辆上单车智能系统的复杂度,充分发挥了车路协同自动驾驶降低成本和单车技术难度的优势。
Decision planning architecture and implementation method of networked automatic driving vehicle in highway scene
高速公路场景下网联自动驾驶车辆的决策规划架构和实现方法
2023-07-11
Patent
Elektronische Ressource
Chinesisch
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