The invention provides a pre-intersection behavior decision-making method based on a drive-by-wire intelligent vehicle. Overall scene evaluation is performed on surrounding roads, obstacles, traffic signs, traffic lights and global navigation information for a pre-intersection scene with the most complex working condition, a behavior rule base is established, and the safety, legality and effectiveness of unmanned driving behaviors are guaranteed. According to the method, through a behavior decision-making method based on the hierarchical finite-state machine and knowledge logical reasoning, hierarchical classification orderly discrimination is carried out on pre-intersection scene decision-making factors with complex working conditions, the possibility of information combination disorder is reduced, and the discrimination speed is effectively accelerated. According to the method, the effectiveness of the whole driving process is considered, the global navigation information is used as an important link in rule base judgment, and the effectiveness, the safety and the legality are organically combined, so that the whole behavior decision is more reasonable.
一种基于线控智能车辆的预路口行为决策方法,针对工况最为复杂的预路口场景,对周围道路、障碍物、交通标识、红绿灯及全局导航信息进行整体场景评估,建立行为规则库,保障无人驾驶行为的安全性、合法性以及有效性。本方法通过基于分层有限状态机和知识逻辑推理的行为决策方法,对工况复杂的预路口场景决策因素进行分层分类有序判别,减少了发生信息组合混乱的可能性,有效加快了判别速度。本方法考虑了整体驾驶进程的有效性,将全局导航信息作为规则库判别中的重要一环,将有效性,安全性和合法性有机结合,使整体行为决策更为合理。
Pre-intersection behavior decision-making method based on drive-by-wire intelligent vehicle
一种基于线控智能车辆的预路口行为决策方法
2021-08-31
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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