The invention relates to an automatic driving vehicle and a decision-making method thereof, and belongs to the technical field of automatic driving vehicles. The method comprises the following steps: when an obstacle exists in front, planning a lane keeping track and a tailgating driving track; determining an optimal driving track according to the track length and the average vehicle speed; when the optimal driving track is a tailgating driving track, if a track point of which the vehicle speed is 0 exists in the tailgating driving track or the maximum lateral offset of the vehicle exceeds an offset threshold value, generating a passive lane changing driving track, and selecting a final optimal driving track from the tailgating driving track and the passive lane changing driving track; and when the optimal driving track is a lane keeping track, generating a passive lane changing driving track, and selecting a final optimal driving track from the passive lane changing driving track and the lane keeping track. The decision is accurate and efficient, and the real-time requirement of the automatic driving vehicle can be met.
本发明涉及一种自动驾驶车辆及其决策方法,属于自动驾驶车辆技术领域。方法包括:前方有障碍物时,规划车道保持轨迹和借道行驶轨迹;根据轨迹长度以及平均车速确定最优行车轨迹;最优行车轨迹为借道行驶轨迹时,若借道行驶轨迹中存在车速为0的轨迹点,或者车辆的最大横向偏移超出偏移量阈值,则生成被动换道行驶轨迹,在借道行驶轨迹和被动换道行驶轨迹中选出最终的最优行车轨迹;最优行车轨迹为车道保持轨迹时,则生成被动换道行驶轨迹,在被动换道行驶轨迹和车道保持轨迹中挑选出最终的最优行车轨迹。本发决策既准确又高效,可满足自动驾驶车辆的实时性要求。
Automatic driving vehicle and decision-making method thereof
一种自动驾驶车辆及其决策方法
2023-06-20
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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