The invention provides an unmanned logistics vehicle behavior decision method and system, and belongs to the technical field of intelligent driving behavior decision. According to the method, the behavior decision of the unmanned logistics vehicle is realized through a hierarchical progressive multi-layer state machine model. The layered progressive multi-layer state machine model comprises a first-layer state machine model and a second-layer state machine model, wherein the first-layer state machine model comprises the following states of vehicle initialization, a manual takeover mode, an automatic driving mode and an unsafe mode; the second-layer state machine model is arranged in an automatic driving mode in the first-layer state machine model, and the second-layer state machine model comprises the following states of vehicle cruising, vehicle deceleration, vehicle parking, key intersection driving and vehicle entering; and the third-layer state machine models are respectively arranged in vehicle cruising, vehicle deceleration, vehicle parking and key intersection driving in the second-layer state machine model. According to the invention, the decision-making of the correct behavior of the vehicle is realized and the decision-making efficiency is improved.

    本发明提供了一种无人物流车辆行为决策方法及系统,属于智能驾驶行为决策技术领域。该方法通过分层递进式的多层状态机模型实现无人物流车辆的行为决策。所述分层递进式的多层状态机模型包括:第一层状态机模型,包括以下状态:车辆初始化、人工接管模式、自动驾驶模式、不安全模式;第二层状态机模型,在第一层状态机模型中的自动驾驶模式中设置有第二层状态机模型,第二层状态机模型包括以下状态:车辆巡航、车辆减速、车辆驻车、关键路口行驶、车辆进站;第三层状态机模型,在第二层状态机模型中的车辆巡航、车辆减速、车辆驻车、关键路口行驶中分别设置有第三层状态机模型。本发明实现了车辆正确行为的决策,提高了决策效率。


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    Title :

    Unmanned logistics vehicle behavior decision-making method and system


    Additional title:

    一种无人物流车辆行为决策方法及系统


    Contributors:
    HE JINGRU (author) / GAN XIN (author) / QIN GAOFENG (author) / HE YIBO (author) / LIN ZHIGUI (author)

    Publication date :

    2023-07-04


    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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