The invention relates to an intersection behavior decision-making method and device for an autonomous vehicle, and the method comprises the steps: screening out at least one target obstacle meeting a preset dangerous condition from a plurality of obstacles when the vehicle is detected to enter an intersection position; predicting a motion trail cluster of at least one target obstacle, and calculating a trail intersection point set of the driving trail of the vehicle and at least one motion trail in the motion trail cluster; and according to the actual speed of the at least one target obstacle and the current speed of the vehicle, calculating a time set for reaching each track intersection point in the track intersection point set, and according to the time set, generating a target behavior of the vehicle so as to avoid the at least one target obstacle. Therefore, the problems that in the related technology, when the vehicle passes through the intersection, real-time decision making cannot be carried out according to the current actual environment information and the obstacle movement information, the safety and trafficability during vehicle driving are reduced, and the intelligence and practicability are low are solved.
本申请涉及一种自动驾驶车辆的路口行为决策方法及装置,其中,方法包括:在检测到车辆驶入路口位置时,从多个障碍物中筛选出满足预设危险条件的至少一个目标障碍物;预测至少一个目标障碍物的运动轨迹簇,并计算车辆的行驶轨迹与运动轨迹簇中至少一条运动轨迹的轨迹交点集合;根据至少一个目标障碍物的实际速度与车辆的当前速度计算达到轨迹交点集合中每个轨迹交点的时间集合,并根据时间集合生成车辆的目标行为,以躲避至少一个目标障碍物。由此,解决了相关技术中,车辆在进行路口通行时,无法根据当前实际环境信息和障碍物运动信息进行实时决策,降低了车辆行驶时的安全性与通过性,智能性和实用性较低等问题。
Intersection behavior decision-making method and device for autonomous vehicle
自动驾驶车辆的路口行为决策方法及装置
29.08.2023
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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