The invention discloses an intersection driving decision method, a related device, equipment and a storage medium. The method comprises the following steps: acquiring a covariance matrix of traffic participants except an own vehicle at a to-be-decided intersection at the current moment; wherein the covariance matrix represents prediction errors of future positions of the traffic participants; performing prediction based on the covariance matrix of the traffic participant at the current moment to obtain a position range of the traffic participant at the next moment; based on the planned path of the vehicle and the position range of the traffic participant at the next moment, analysis is carried out to obtain an analysis result, and the analysis result comprises whether there is a collision risk between the vehicle and the traffic participant at the next moment at the intersection to be decided; based on whether the analysis result includes the collision risk, obtaining decision information of the own vehicle; wherein the decision information at least comprises the expected acceleration. According to the scheme, uncertainty modeling can be carried out at the to-be-decided intersection, so that the reasonability of driving decision making at the to-be-decided intersection is improved.
本申请公开了一种路口行车决策方法及相关装置、设备和存储介质,上述方法包括:获取待决策路口上自车之外交通参与者在当前时刻的协方差矩阵;其中,协方差矩阵表征交通参与者未来位置的预测误差;基于交通参与者在当前时刻的协方差矩阵进行预测,得到交通参与者在下一时刻的位置范围;基于自车的规划路径与交通参与者在下一时刻的位置范围进行分析,得到分析结果,其中,分析结果包括在待决策路口上自车与交通参与者在下一时刻是否存在碰撞风险;基于分析结果是否包括存在碰撞风险,得到自车的决策信息;其中,决策信息至少包括期望加速度。上述方案,能够在待决策路口进行不确定性建模,以提升在待决策路口进行行车决策的合理性。
Intersection driving decision-making method, related device, equipment and storage medium
路口行车决策方法及相关装置、设备和存储介质
13.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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