The invention relates to the technical field of vehicle auxiliary driving, in particular to a driving track planning method and device based on vehicle cloud collaboration.The method comprises the steps that an initial surrounding vehicle probability model is updated based on obtained target sensing data of a vehicle and surrounding vehicles, and a surrounding vehicle probability model is obtained; the parameters and parameter uncertainty of the driver model and the vehicle lane changing model and the intention and intention uncertainty of the vehicle are obtained; constructing a self-vehicle closed-loop strategy tree based on the parameters, the parameter uncertainty, the intention of the self-vehicle and the intention uncertainty, searching the self-vehicle closed-loop strategy tree in combination with the self-vehicle closed-loop strategy tree and a parallel computing mode, and generating a behavior sequence decision of the self-vehicle; and generating a spatio-temporal trajectory of the own vehicle based on the behavior sequence decision and the trajectory optimization model. Therefore, the problems of low availability of a planning result, low prediction precision and the like caused by limitation of a view field of a single vehicle, relatively small observable range, limited calculation power of the single vehicle and difficulty in effectively solving a long-time-domain planning problem in related technologies are solved.
本申请涉及车辆辅助驾驶技术领域,特别涉及一种基于车云协同的行驶轨迹规划方法及装置,其中,方法包括:基于获取的自车和周车的目标感知数据更新初始周车概率模型,得到周车概率模型,以得到驾驶员模型与车辆换道模型参数与参数不确定性、自车的意图与意图不确定性;基于参数与参数不确定性、自车的意图与意图不确定性构建自车闭环策略树,并结合自车闭环策略树和并行计算方式进行自车闭环策略树的搜索,生成自车的行为序列决策;基于行为序列决策和轨迹优化模型生成自车的时空轨迹。由此,解决了相关技术中,受制于单车的视野,可观测范围较小,单车算力有限,难以对长时域的规划问题进行有效求解,导致规划结果可用性不高、预测精度低等问题。
Driving track planning method and device based on vehicle cloud cooperation
基于车云协同的行驶轨迹规划方法及装置
11.03.2025
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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