The invention discloses an automatic driving behavior decision-making method and system, electronic equipment and a storage medium, and the method comprises the steps: S1, obtaining surrounding environment data and navigation data of an automatic driving automobile, and generating environment semantic information based on the surrounding environment data and the navigation data; s2, the environment semantic information is input into a pre-established behavior decision model to obtain a behavior decision result, and the behavior decision model is established according to experience driving data of a plurality of drivers; and S3, analyzing according to the behavior decision result and the current driving state data of the autonomous vehicle to obtain a control action instruction set so as to control the autonomous vehicle to complete subsequent driving actions. According to the method, the driving experience of the person is fused into the behavior decision of the automatic driving automobile, the driving experience of the person is used for guiding the automatic driving automobile to make pre-judgment and behavior planning, and compared with a behavior decision method completely depending on environmental perception, the robustness of the control method is improved.

    本发明公开了一种自动驾驶行为决策方法、系统、电子设备及存储介质,该方法包括:步骤S1:获取自动驾驶汽车的周围环境数据和导航数据,并基于周围环境数据和导航数据生成环境语义信息;步骤S2:将环境语义信息输入至预先建立的行为决策模型以得到行为决策结果,其中,行为决策模型是依据多个驾驶员的经验驾驶数据构建的;步骤S3:根据行为决策结果和自动驾驶汽车的当前行驶状态数据分析得到控制动作指令集,以控制自动驾驶汽车完成后续驾驶动作。本发明将人的驾驶经验融入到自动驾驶汽车的行为决策中,利用人的驾驶经验指导自动驾驶汽车作出预判和行为规划,与完全依靠环境感知的行为决策方法相比,提高了控制方法的鲁棒性。


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    Titel :

    Automatic driving behavior decision-making method and system, electronic equipment and storage medium


    Weitere Titelangaben:

    一种自动驾驶行为决策方法、系统、电子设备及存储介质


    Beteiligte:
    HUANG QIUSHENG (Autor:in) / SONG XINLEI (Autor:in) / XU GAOJIE (Autor:in)

    Erscheinungsdatum :

    2023-07-21


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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