The invention discloses a traffic right decision-making method for an automatic driving automobile in facing pedestrians, and the method comprises the steps: S1, carrying out the evaluation of the risk value of a pedestrian in a road from the environment and an automatic driving traffic flow based on an acceptable gap theory; S2, estimating a pedestrian passing intention; and S3, determining an automatic driving vehicle passing scheme according to the risk value of the pedestrian, the waiting time and the pedestrian passing intention. According to the traffic right decision method for the automatic driving automobile in facing the pedestrian, the problem that the traffic right decision of the automatic driving automobile is inflexible and unidirectional is solved, so that the operation stability and efficiency of the automatic driving traffic flow are greatly improved, the phenomenon that the current automatic driving automobile frequently stops when facing the pedestrian is reduced. The method has remarkable effects of improving the safety of pedestrians, improving the traffic efficiency of road traffic flow and the like of the automatic driving automobile.
本发明公开了一种面对行人时自动驾驶汽车的通行权决策方法,包括:步骤S1:基于可接受间隙理论,对道路中行人受到来自环境和自动驾驶交通流的风险值进行评估;步骤S2:估计行人通行意图;步骤S3:综合行人受到的风险值、等待时间和行人通行意图确定自动驾驶汽车通行方案。本发明提供的面对行人时自动驾驶汽车的通行权决策方法,解决了自动驾驶汽车通行权决策不灵活和单向的问题,从而大大提升了自动驾驶交通流运行稳定性和效率,减少目前自动驾驶汽车面对行人时频繁停车的现象,对于提升自动驾驶汽车在保证行人安全和发挥提升道路交通流通行效率等方面有显著效果。
Traffic right decision-making method for automatic driving automobile in facing pedestrians
一种面对行人时自动驾驶汽车的通行权决策方法
2021-04-09
Patent
Electronic Resource
Chinese
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