The invention relates to an automatic driving decision information determination method and device, equipment and a storage medium. The method comprises the following steps: inputting data of a road environment where a vehicle is located into an isomorphic different-parameter prediction model for trajectory prediction to obtain a plurality of candidate trajectories, and processing each candidate trajectory to obtain a target prediction trajectory and uncertainty of the target prediction trajectory; and inputting the target prediction trajectory and the uncertainty of the target prediction trajectory into a decision model to obtain decision information. By adopting the method, the existing decision model based on the trajectory prediction result can be corrected based on the uncertainty of the trajectory prediction, and when the prediction model is possibly invalid, higher collision risk estimation with the conflict object is formed by showing higher uncertainty of the trajectory prediction. Therefore, potential safety hazards caused by prediction failure can be found and avoided in time.

    本申请涉及一种自动驾驶决策信息的确定方法、装置、设备和存储介质。所述方法包括:先将车辆所在的道路环境数据分别输入至同构异参的预测模型中进行轨迹预测,得到多个候选轨迹,再对各候选轨迹进行处理,得到目标预测轨迹和目标预测轨迹的不确定度,然后将目标预测轨迹和目标预测轨迹的不确定度输入至决策模型,得到决策信息。采用本方法能够基于轨迹预测的不确定度对现有的基于轨迹预测结果的决策模型进行修正,在预测模型可能失效时通过表现出较高的轨迹预测的不确定度来形成与冲突对象更高的碰撞风险估计,从而及时发现并避免预测失效带来的安全隐患。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Method and device for determining automatic driving decision information, equipment and storage medium


    Weitere Titelangaben:

    自动驾驶决策信息的确定方法、装置、设备和存储介质


    Beteiligte:
    WANG HONG (Autor:in) / LI JUN (Autor:in) / SHAO WENBO (Autor:in) / YU WENHAO (Autor:in)

    Erscheinungsdatum :

    2023-12-12


    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




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

    YAN LIRONG / HU YUFENG / YIN ZHISHUAI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

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

    YAN LIRONG / HU YUFENG / YIN ZHISHUAI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Decision-making method, device and equipment for automatic driving equipment and readable storage medium

    ZHAO YAQIAN / LI RENGANG / LU LU et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Automatic driving decision-making method and device, electronic equipment, storage medium and vehicle

    MENG LIN / YU NING / PENG MINGXING et al. | Europäisches Patentamt | 2023

    Freier Zugriff