The invention discloses a continuous reference line decision-making method and device, and the method comprises the steps: determining the semantic information of a reference line, and enabling the determined semantic information to comprise a first semantic information group for intention decision-making and a second semantic information group for direction decision-making; determining a reference line switching intention according to the first semantic information group; selecting an optimal reference line according to the reference line switching intention and the second semantic information group of each reference line; and determining a target reference line according to the selected optimal reference line. According to the scheme, the reference line decision is performed by adopting the semantic information determined for the reference line, so that the reasonability and reliability of the decision result can be ensured; and part of semantic information is used for decision analysis in each stage of decision making, so that the decision making process is clear, visual and interpretable, evaluation parameters, namely the semantic information, of decision analysis can be flexibly adjusted according to requirements, and the debuggeability and expandability of reference line cost evaluation are improved.
本发明公开一种连续参考线决策方法及装置,方法包括确定参考线的语义信息,确定的语义信息包括用于意图决策的第一语义信息组和用于方向决策的第二语义信息组;根据第一语义信息组确定参考线切换意图;根据参考线切换意图和各参考线的第二语义信息组选择最优参考线;根据选择的最优参考线确定目标参考线。本发明的方案采用为参考线确定的语义信息进行参考线决策,能够保证决策结果的合理性和可靠性;且在决策的各个阶段分别应用部分语义信息进行决策分析,不但使得决策过程清晰直观且具有可解释性,还能够方便根据需求对决策分析的评价参数即语义信息进行灵活调整,提高参考线代价评估的可调试性和可扩展性。
Continuous reference line decision-making method and device, vehicle and storage medium
连续参考线决策方法及装置、车辆、存储介质
2022-07-29
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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