The invention relates to an automatic driving automobile lane changing decision control method considering uncertainty, which comprises the following steps: constructing a state space and an action space, and establishing a state transition equation; establishing observation space models and belief space models of the own vehicle and other vehicles, and uncertainty models of prediction trajectories of other vehicles; setting a reward function, solving a decision state point set of the vehicle by combining a POMDP model, and decoupling the decision state point set into a transverse space decision set and a longitudinal time decision set; respectively determining transverse and longitudinal drivable boundaries, introducing road boundary constraints, vehicle speed constraints and obstacle distance constraints, and dividing a transverse drivable region and a reference path, and a longitudinal drivable region and a reference speed curve; and according to a decision result, the vehicle planning module outputs a corresponding vehicle optimal track, so that the vehicle runs according to the optimal track. Compared with the prior art, the method fully considers the uncertainty of other vehicle prediction trajectories, the decided own vehicle state point set is more stable and reliable, and the comfort and safety of vehicle driving can be effectively enhanced.
本发明涉及一种考虑不确定性的自动驾驶汽车换道决策控制方法,包括:构建状态空间及动作空间,建立状态转移方程;建立自车、他车的观测空间模型及信念空间模型、他车预测轨迹的不确定性模型;设定奖励函数,结合POMDP模型,求解自车的决策状态点集、并解耦为横向空间决策集及纵向时间决策集;分别确定横向、纵向可行驶边界,引入道路边界约束,车速约束及障碍物距离约束,划分出横向可行驶区域及参考路径、纵向可行驶区域及参考速度曲线;根据决策结果,车辆规划模块输出相应车辆最优轨迹,使车辆按照最优轨迹行驶。与现有技术相比,本发明充分考虑他车预测轨迹的不确定性,决策出的自车状态点集更加稳定可靠,能有效增强车辆驾驶的舒适性及安全性。
Automatic driving automobile lane changing decision control method considering uncertainty
一种考虑不确定性的自动驾驶汽车换道决策控制方法
2022-11-01
Patent
Electronic Resource
Chinese
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