The invention relates to a decision-making method and device for an automatic driving vehicle, the vehicle and a storage medium, and the method comprises the steps: judging whether the automatic driving vehicle runs to a path meeting a preset turning angle narrow condition or not; if the autonomous vehicle runs to the path meeting the preset turning angle narrow condition, detecting whether a front obstacle is located in a current obstacle dynamic window or not, and obtaining obstacle information of the front obstacle and vehicle information of the autonomous vehicle; and generating a decision result based on the obstacle information and the vehicle information to brake the current driving of the vehicle, wait for the front obstacle to leave the current obstacle dynamic window, restart the autonomous vehicle, or continue the current driving of the autonomous vehicle. According to the method, related obstacles can be detected and related information of front obstacles and the vehicle can be obtained through the dynamic window in a narrow scene to generate the decision result, and the vehicle is controlled to execute corresponding actions, so that the safety and efficiency of the vehicle passing through a narrow intersection are improved, and the driving experience of a user is improved.
本申请涉及一种自动驾驶车辆的决策方法、装置、车辆及存储介质,其中,方法包括:判断自动驾驶车辆是否行驶至满足预设转角狭窄条件的路径;如果行驶至满足预设转角狭窄条件的路径,则检测前方障碍物是否处在当前障碍物动态窗口内,并获取前方障碍物的障碍信息和自动驾驶车辆的车辆信息;基于障碍信息和车辆信息生成决策结果,以刹停车辆当前行车,等待前方障碍物离开当前障碍物动态窗口,重启自动驾驶车辆,或者继续自动驾驶车辆当前行车。本申请可以在狭窄场景中,通过动态窗口探测相关障碍物,获取前方障碍物和车辆的相关信息,以生成决策结果,并控制车辆执行相应地动作,从而提高车辆通过狭窄路口的安全性和效率,改善了用户的驾乘体验。
Decision-making method and device for autonomous vehicle, vehicle and storage medium
自动驾驶车辆的决策方法、装置、车辆及存储介质
2023-04-25
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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