The invention discloses an automatic driving decision-making method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring obstacle information and a planned track of a current vehicle; judging whether the obstacle is within a preset range of the planned track or not; and if the obstacle is within the preset range of the planned trajectory, determining a decision behavior of the current vehicle in the current decision period based on the static and dynamic state of the obstacle, through the technical scheme of the invention, making an avoidance decision according to the static and dynamic state of the obstacle, and under the condition of ensuring traffic safety, improving the traffic safety. The frequent parking avoidance of the automatic driving vehicle facing pedestrians is reduced, the driving stability and riding comfort of the automatic driving vehicle are improved, and the operation efficiency and smoothness of traffic flow are improved.

    本发明公开了一种自动驾驶决策方法、装置、车辆及存储介质。该方法包括:获取障碍物信息和当前车辆的规划轨迹;判断所述障碍物是否处于所述规划轨迹的预设范围内;若障碍物处于所述规划轨迹的预设范围内,则基于所述障碍物的静动状态,确定所述当前车辆在当前决策周期的决策行为,通过本发明的技术方案,能够根据障碍物的静动状态进行避让决策,在保证交通安全的情况下,减少自动驾驶车辆面对行人时频繁停车避让,提升自动驾驶汽车的驾驶稳定性和乘车舒适性,提高交通流的运行效率和畅通性。


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    Title :

    Automatic driving decision-making method and device, vehicle and storage medium


    Additional title:

    一种自动驾驶决策方法、装置、车辆及存储介质


    Contributors:
    CHEN ZHIXIN (author) / SHANG BINGXU (author) / WANG YINAN (author) / ZHANG YONG (author) / LIU YANG (author) / WANG HONGFENG (author) / HUANG HAIYANG (author)

    Publication date :

    2022-07-12


    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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