The invention discloses an automatic driving decision-making scheme for an intersection without a control signal, which is characterized in that an automatic driving decision is divided into two main bodies of prediction-based auxiliary decision-making and real-time planning, each main body operates relatively independently, and an auxiliary decision-making part is responsible for performing prediction and optimal action decision-making on a target vehicle and outputting a decision-making result to a real-time planning part; and the real-time planning part is used for carrying out real-time trajectory planning and conflict detection based on observation information and auxiliary decision-making information, and adjusting actions when necessary. The frame structure is clear, the transparency of the model and the safety and controllability in the road driving process are ensured, the interactivity and uncertainty between vehicles are fully considered, the optimal action decision adopts a decision-making tree search method with a prediction result as a guide, the operation consumption can be effectively reduced, and the real-time decision-making efficiency is improved.

    本发明公开了一种无控制信号路口的自动驾驶决策方案,将自动驾驶决策分工为基于预测的辅助决策和实时规划两大主体,各主体相对独立运行,辅助决策部分负责对目标车辆进行预测和最优动作决策,向实时规划部分输出决策结果;而实时规划部分则基于观测信息和辅助决策信息进行实时轨迹规划和冲突检测,并在必要时调整动作。该框架结构清晰,保证了模型的透明度和道路行驶过程中的安全可控,充分考虑了车辆之间的交互性和不确定性,最优动作决策采用了以预测结果为导向的决策树搜索方法,能够有效减小运算消耗,提高实时决策效率。


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    Title :

    Automatic driving decision planning system and method for uncontrolled intersection environment


    Additional title:

    一种无管控路口环境的自动驾驶决策规划系统和方法


    Contributors:
    FU MENGYIN (author) / ZHANG TING (author) / SONG WENJIE (author) / YANG YI (author) / WANG MEILING (author)

    Publication date :

    2023-01-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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