The invention provides an interactive behavior decision-making method and device of an automatic driving vehicle and the automatic driving vehicle, and relates to the field of artificial intelligence, in particular to an automatic driving technology. The method comprises the following steps: acquiring driving environment information of the autonomous vehicle, wherein the driving environment information comprises motion state information of the autonomous vehicle, motion state information of traffic participants around the autonomous vehicle and road information; determining an interaction scene where the autonomous vehicle is located and an interaction degree between the autonomous vehicle and an interaction object according to the driving environment information; a target vehicle interaction behavior decision model is determined based on the interaction scene and the interaction degree, a decision instruction is output through the target vehicle interaction behavior decision model, and the target vehicle interaction behavior decision model is one of a plurality of pre-trained vehicle interaction behavior decision models. According to the method, the generalization ability of the interactive behavior decision of the automatic driving vehicle in the dynamic uncertain environment is improved.

    本公开提供了一种自动驾驶车辆的交互行为决策方法、装置及自动驾驶车辆,涉及人工智能领域,尤其涉及自动驾驶技术。该方法包括:获取自动驾驶车辆的驾驶环境信息,驾驶环境信息包括自动驾驶车辆的运动状态信息、自动驾驶车辆周围的交通参与者的运动状态信息以及道路信息;根据驾驶环境信息确定自动驾驶车辆所处的交互场景以及自动驾驶车辆与交互对象的交互程度;基于交互场景和交互程度确定目标车辆交互行为决策模型,以通过目标车辆交互行为决策模型输出决策指令,目标车辆交互行为决策模型是预先训练的多个车辆交互行为决策模型中的一个。该方法提高了动态不确定环境下自动驾驶车辆的交互行为决策的泛化能力。


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    Title :

    Interaction behavior decision-making method and device of automatic driving vehicle and automatic driving vehicle


    Additional title:

    自动驾驶车辆的交互行为决策方法、装置及自动驾驶车辆


    Contributors:
    LIU JINXIN (author) / LI WENBO (author) / PENG LIANG (author) / WANG CHAO (author) / BAO SHUAI (author) / YAO MENG (author)

    Publication date :

    2023-03-24


    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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