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。


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    Title :

    Automatic driving vehicle and decision-making method thereof


    Additional title:

    一种自动驾驶车辆及其决策方法


    Contributors:
    WANG XIAOJIE (author) / ZHU MIN (author) / LI XINGJIA (author) / TU SHIWEI (author) / ZHOU YIBO (author)

    Publication date :

    2023-06-20


    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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