The invention discloses an intelligent network connection automobile hierarchical decision-making and control method and device based on automobile cloud collaboration, electronic equipment and a storage medium, and the method comprises the steps: building a relative coordinate system, and planning a motorcade motion plane as an equidistant grid in the relative coordinate system; performing cooperative path planning on the to-be-planned vehicle by using the equidistant grids in the relative coordinate system to obtain a planned path of the to-be-planned vehicle to the target position; and projecting the relative coordinate system to an absolute coordinate system to obtain an absolute coordinate point of the planned path in the absolute coordinate system, calculating a motion track plan of the to-be-planned vehicle according to the absolute coordinate point and the target planning time of the to-be-planned vehicle, and controlling the to-be-planned vehicle to move to a target position according to the motion track plan. Therefore, collaborative planning of the intelligent networked automobile and the cloud platform is realized, and the overall performance of the traffic system is improved. Therefore, the problems of collaborative planning of the intelligent cloud network connection automobile and the platform and the like are solved.

    本申请公开了一种基于车云协同的智能网联汽车分层决策与控制方法、装置、电子设备及存储介质,其中,方法包括:通过建立相对坐标系,将车队运动平面规划为相对坐标系中的等距离网格;利用相对坐标系中的等距离网格对待规划车辆进行协同路径规划,得到待规划车辆到达目标位置的规划路径;将相对坐标系投影至绝对坐标系,得到规划路径在绝对坐标系中的绝对坐标点,并根据绝对坐标点和待规划车辆的目标规划时间计算待规划车辆的运动轨迹规划,控制待规划车辆按照运动轨迹规划运动至目标位置。从而实现智能网联汽车和云平台的协同规划,提升交通系统的整体性能。由此,解决了智能云网联汽车和平台的协同规划等问题。


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    Title :

    Intelligent network connection automobile hierarchical decision-making and control method and device based on automobile cloud cooperation


    Additional title:

    基于车云协同的智能网联汽车分层决策与控制方法及装置


    Contributors:
    XU QING (author) / CAI MENGCHI (author) / LI KEQIANG (author) / WANG JIANQIANG (author) / CHEN CHAOYI (author) / WANG JIAWEI (author)

    Publication date :

    2022-07-08


    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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