The invention discloses an intersection multi-object participation-oriented automatic driving decision-making method, which comprises the following steps of sensing and calculating real-time speed and position information of an own vehicle, other vehicles and pedestrians near an intersection by utilizing an intelligent network connection technology, and performing global path planning on the own vehicle; calculating time windows of the own vehicle, the other vehicle and the pedestrians passing through the intersection; adjusting the upper limit of the running acceleration of the vehicle based on a finite-state machine method; and on the basis of the upper limit value of the driving acceleration of the vehicle, vehicle kinematics constraint, curvature constraint, riding comfort constraint and safety constraint are comprehensively considered, and vehicle motion planning is carried out. According to the invention, under the condition that the time windows of the own vehicle, other vehicles and pedestrians passing through the intersection are known, the driving strategy of the own vehicle is adjusted by using the thought of the finite-state machine, overlapping of the time windows of the own vehicle and the time windows of other vehicles and pedestrians is avoided as far as possible, peak-shifting intersection passing is realized, the probability of intersection accidents is reduced, and the traffic safety is improved. And the safety and reliability of automatic driving are ensured.

    本发明公开了一种面向路口多物体参与的自动驾驶决策方法,包括以下步骤:利用智能网联技术,感知计算路口附近自车、他车与行人实时的速度与位置信息,并对自车进行全局路径规划;计算自车、他车与行人通过路口的时间窗口;基于有限状态机方法调整自车行驶加速度上限;以自车行驶加速度上限值为基础,综合考虑车辆运动学约束、曲率约束以及乘坐舒适性约束和安全性约束,进行自车运动规划。本发明在已知自车、他车与行人通过路口的时间窗口情况下,利用有限状态机的思想,调整自车的驾驶策略,尽可能避免自车的时间窗口与他车和行人的时间窗口重叠,实现错峰通过路口,减小路口事故发生概率,保证自动驾驶的安全性和可靠性。


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    Title :

    Intersection multi-object participation-oriented automatic driving decision-making method


    Additional title:

    一种面向路口多物体参与的自动驾驶决策方法


    Contributors:
    CHEN KEYU (author) / ZHANG HAN (author) / YE YULIN (author)

    Publication date :

    2022-12-30


    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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