The invention provides an automatic driving control method, a device, a vehicle-mounted terminal and a readable storage medium, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring driving behavior information of a plurality of first vehicles in a target range; determining an afflux success rate of each gap; determining a first target gap; according to the probabilities of the driving behavior information of the two corresponding first vehicles, determining a target driving control behavior of the target vehicle at the next moment, and controlling the target vehicle to converge into the first target gap; when the probability corresponding to the driving behavior information of the two first vehicles is determined, considering interaction behavior information of the two first vehicles and the target vehicle, so that the complexity of the scene capable of being processed by the method can be increased, the convergence success rate of the target vehicle under a crowded traffic flow can be further improved, the probability corresponding to the driving behavior information of the two first vehicles corresponding to the first targetgap is determined, various possible behaviors of the vehicles can be considered in the decision process, and the decision accuracy is improved.
本公开提供了一种自动驾驶控制方法、装置、车载终端及可读存储介质,属于自动驾驶技术领域。本公开根据获取到的目标范围内的多台第一车辆的行驶行为信息,确定各个间隙的汇入成功率,进而确定第一目标间隙,根据其对应的两台第一车辆的驾驶行为信息的概率,确定目标车辆下一时刻的目标驾驶控制行为,并控制目标车辆汇入第一目标间隙,在确定两台第一车辆的驾驶行为信息对应的概率时,考虑两台第一车辆与目标车辆的交互行为信息,可以增加该方法能处理的场景的复杂度,进而可以提高目标车辆在拥挤车流下的汇入成功率,确定第一目标间隙对应的两台第一车辆的驾驶行为信息对应的概率,可以在决策过程中考虑到车辆的各种可能行为,提高决策准确性。
Automatic driving control method, device, vehicle-mounted terminal and readable storage medium
自动驾驶控制方法、装置、车载终端及可读存储介质
2020-04-21
Patent
Electronic Resource
Chinese
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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