The invention discloses a decision-making method for an automatic driving mode in an emergency scene, which specifically comprises the following steps of: presetting at least three passive emergency scenes which may cause a lane changing behavior of a vehicle, judging which passive scene is located in real time by using driving information of the vehicle and other vehicles, and then obtaining estimated risk values of a lane keeping driving scheme and a lane changing driving scheme according to a collision risk assessment model and the distance between other surrounding vehicles related to the vehicle and the vehicle, especially in combination with the additional risk coefficient of the lane changing behavior and according to the emergency scene, and then deciding the final driving behavior according to the priority and a risk comparison mechanism. According to the method, a reliable decision basis is provided for whether the automatic driving vehicle adopts a relatively safe lane keeping driving mode or selects a lane changing driving mode with relative risks in a passive scene, so that the probability of occurrence of traffic accidents can be reduced.
本发明公开了一种紧急场景下自动驾驶行驶模式决策方法,具体地,预设至少三种可能会导致本车发生换道行为的被动紧急场景,并利用本车与其他车辆的行驶信息实时判定处于何种被动场景,然后针对所处的紧急场景,根据碰撞风险评估模型、与本车相关的周边其他车辆相对于本车的距离,尤其是结合了换道行为本身附加的风险系数,分别得到保持车道行驶方案以及变换车道行驶方案的预估风险值,再由优先级以及风险对比机制决策最终的驾驶行为。本发明对于被动场景下自动驾驶车辆是采用相对安全的车道保持行驶模式还是选择存在相对风险的车道变换行驶模式提供了可靠的决策依据,因而可以降低交通事故的发生概率。
Decision-making method for automatic driving mode in emergency scene
紧急场景下自动驾驶行驶模式决策方法
2021-08-10
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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