The invention discloses an intelligent vehicle decision-making method considering uncertainty at an intersection. The method comprises the following steps: firstly, generating a collision-free path capable of avoiding static obstacles through a path planning module; then, a POMDP model is established; acquiring surrounding vehicle information; observing other vehicle models and predicting intentions of other vehicles; calculating the acceleration action of the kth step through an optimal strategy; and finally, substituting the generated state and action of the kth step into the state transfer function to obtain the state and observation of the (k + 1) th step, and judging whether the end point is reached or not. Compared with the prior art, the method considers uncertainty, is suitable for various types of intersections, and solves the problems that a traditional algorithm is poor in applicability and depends on inter-vehicle communication.
本发明公开了一种交叉路口下考虑不确定性的智能车辆决策方法,首先通过路径规划模块产生可躲避静态障碍的无碰撞路径;然后建立POMDP模型;获取周边车辆信息;观测其他车辆模型和预测其他车辆其意图;接着通过最优策略计算出第k步的加速度动作;最后将产生的第k步的状态和动作代入下状态转移函数得到k+1步的状态和观察,判断是否达到终点。与现有技术相比,本发明考虑了不确定性且适用于各种类型的交叉路口,解决了传统算法适用性差且依赖于车间通信的问题。
Intelligent vehicle decision-making method considering uncertainty at intersection
一种交叉路口下考虑不确定性的智能车辆决策方法
2023-07-04
Patent
Electronic Resource
Chinese
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