The invention relates to the technical field of automatic driving decision planning, in particular to an automatic driving prediction decision method and device for a vehicle, and the method comprises the steps: obtaining the state information of obstacles around the vehicle; acquiring a center line of a lane where the vehicle is located and surrounding lanes; traversing to obtain the nearest point in the lane center line corresponding to the surrounding obstacles; obtaining coordinate information of the signal lamp by combining the position information of the signal lamp and the green light residual duration; generating a predicted trajectory of surrounding obstacles according to the predicted acceleration and the lane changing intention; calculating the generation probability of all interaction scenes according to the intent of the interested vehicle and the predicted trajectory; parallel calculation is carried out on the planned trajectory to calculate a scene occurrence probability and a trajectory quality score, and a comprehensive evaluation index is obtained; and a final optimal track is selected. Therefore, the problems that in the related technology, nondeterministic prediction is difficult to carry out on the intention of the obstacle, a complex traffic environment is difficult to adapt to and implement, and safe, reliable and stable decision suggestions cannot be provided are solved.
本申请涉及自动驾驶决策规划技术领域,特别涉及一种车辆的自动驾驶预测决策方法及装置,其中,方法包括:获取车辆周围障碍物的状态信息;获取车辆所处车道与周围车道的中心线;遍历得到周围障碍物对应车道中心线中距离最近的点;结合信号灯的位置信息和绿灯剩余时长得到信号灯的坐标信息;根据预测加速度和变道意图生成周围障碍物的预测轨迹;根据感兴趣车辆的意图及预测轨迹计算所有交互场景生成的概率;并行计算规划轨迹,以计算场景发生概率和轨迹质量分数,得到综合评价指标;进而选出最终的最优轨迹。由此,解决了相关技术中,对障碍物的意图很难进行非确定性预测,很难适应实现复杂的交通环境,不能提供安全、可靠、稳定的决策建议等问题。
Automatic driving prediction decision-making method and device of vehicle
车辆的自动驾驶预测决策方法及装置
2024-05-10
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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