The invention provides an intelligent driving behavior decision planning method and system oriented to vehicle-road cooperation. The method comprises the following steps: firstly, sensing and acquiring position and speed information of a vehicle, and information of roads and objects on the roads in a traffic scene in real time in a driving process; then establishing a driver decision-making model and training the model by using related information obtained during vehicle driving, so that the trained driver decision-making model can divide driving behaviors into three types, namely a conservative type, a general type and a aggressive type; with the driving safety field as a constraint and in combination with the driving behavior type selected by the current driver and passenger, performing decision planning of the driving path and speed of the vehicle; and finally, performing lower-layer control on the whole vehicle based on the decision plan of the driving path and the speed, so that the vehicle executes corresponding driving actions according to the decision plan.

    本发明提供了一种面向车路协同的智能驾驶行为决策规划方法及系统,首先在行驶过程中实时感知获取车辆自身包括位置、速度信息,以及所在交通场景中道路及道路上物体信息;随后建立驾驶人决策模型并利用车辆行驶中获取的相关信息对所述模型进行训练,使训练好的驾驶人决策模型能够将驾驶行为划分为保守型、一般型以及激进型三类;以行车安全场作为约束,并结合当前驾乘人员所选定的驾驶行为类型,对车辆进行行驶路径及速度的决策规划;最终基于所作出的行驶路径及速度的决策规划,对整车进行下层控制,使车辆按照决策规划执行相应行驶动作。


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    Title :

    Intelligent driving behavior decision planning method and system for vehicle-road cooperation


    Additional title:

    一种面向车路协同的智能驾驶行为决策规划方法及系统


    Contributors:
    SHI JIAN (author) / WANG WUHONG (author) / JIANG XIAOBEI (author) / ZHANG HAODONG (author) / CHENG QIAN (author) / HOU DANYI (author) / YU WENLIN (author) / GUO JIAWEN (author) / CHEN XIZHENG (author)

    Publication date :

    2021-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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