The invention discloses a driving decision-making system and method fusing vision and sensor information. The driving decision-making system comprises a sensor module, a vision and sensor data fusionmodule, a decision-making module and a control module. The sensor module is used for acquiring image information of roads, lane lines and other vehicles around a current driving vehicle, and positionand speed information of the current driving vehicle; the vision and sensor data fusion module is used for separating and extracting lane lines, road structures, other road users and spatial featuresfrom the image information, and extracting motion features of the current vehicle from GPS and vehicle speed sensor data; the decision-making module is used for obtaining the decision amount of the current vehicle through the decision model; and the control module drives a steering motor, a pedal and a braking system of the automatic driving vehicle, controls the vehicle to complete a driving taskand updates the position and speed state of the vehicle. According to the method, the generalization ability is improved, abnormal conditions which do not occur in the sample can be handled, and safer, more stable and more efficient autonomous driving of the intelligent vehicle is realized.

    本发明公开了一种融合视觉和传感器信息的驾驶决策系统及方法,包括传感器模块,视觉和传感器数据融合模块,决策模块和控制模块;传感器模块,采集当前驾驶车辆周边的道路,车道线和其他车辆的图像信息,当前驾驶车辆位置和速度信息;视觉和传感器数据融合模块,从图像信息中分离并提取车道线、道路结构、其他道路使用者和空间特征,从GPS和车速传感器数据中提取当前车辆的运动特征;决策模块,通过决策模型获取当前车辆的决策量;控制模块,驱动自动驾驶车辆的转向电机,踏板和制动系统,控制车辆完成驾驶任务,更新车辆的位置和速度状态。本发明提高了泛化能力,能够处理样本中未出现的异常情况,实现智能车辆更安全,稳定和高效地自主行驶。


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    Title :

    Driving decision-making system and method fusing vision and sensor information


    Additional title:

    一种融合视觉和传感器信息的驾驶决策系统及方法


    Contributors:
    LI LIN (author) / ZHAO WANZHONG (author) / CHENG QINGYUN (author) / XU CAN (author)

    Publication date :

    2020-06-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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