The invention relates to an intelligent vehicle risk-sensitive sequential behavior decision-making method, device and equipment, and the method comprises the steps: obtaining the driving state information of traffic participants in a preset traffic environment, constructing a dynamic target function, determining the single walking of a vehicle as a decision-making strategy based on the dynamic target function, determining longitudinal and transverse dynamic safety margins in the decision-making process, taking single walking as a decision-making strategy, identifying driving intentions of surrounding vehicles, calculating cost values of the vehicles for adopting different behavior decision-making strategies so as to match with the optimal strategy of the vehicles, and repeating the steps to complete the decision-making process. And outputting an optimal track according to the risk-sensitive sequential decision strategy until the risk-sensitive sequential decision strategy is consistent with the action of the vehicle at the current moment. Therefore, the problems that an intelligent vehicle decision-making method has certain requirements in the aspects of training data sample capacity and quality and is difficult to apply to actual complex dynamic scenes and the like are solved, and dynamic multi-target cooperation and multi-stage stable decision-making of the intelligent vehicle are achieved in the complex scenes.
本申请涉及一种智能车辆风险敏感型序贯行为决策方法、装置及设备,方法包括:获取预设交通环境下交通参与者的行驶状态信息,构建动态目标函数,基于动态目标函数确定车辆单步行为决策策略,确定决策过程中纵向和横向的动态安全裕度,基于单步行为决策策略,识别周围车辆的行车意图,计算车辆采取不同行为决策策略的代价值,以匹配车辆的最佳策略,重复上述步骤,直至风险敏感型序贯决策策略与车辆在当前时刻的动作一致,根据风险敏感型序贯决策策略输出最优轨迹。由此,解决了智能车辆决策方法在训练数据样本容量和质量方面有一定要求,难以应用于实际复杂动态场景等问题,在复杂场景下实现智能车辆动态多目标协同和多阶段稳定决策。
Intelligent vehicle risk-sensitive sequential behavior decision-making method, device and equipment
智能车辆风险敏感型序贯行为决策方法、装置及设备
11.08.2023
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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