The invention relates to an unmanned vehicle blind area intersection planning method considering uncertainty. The method comprises the following steps: step 1, constructing a blind area potential traffic participant model considering subjective consciousness of a driver; 2, an uncertainty estimator is constructed, joint reasoning is carried out for blind area uncertainty and visible vehicle intention uncertainty, and probability distribution of uncertain factors is generated; and step 3, inputting an estimation result of the uncertain factors into a longitudinal speed planner based on a partially observable Markov model, and obtaining an optimal action strategy of the unmanned vehicle when the unmanned vehicle passes through the intersection without the light control blind area. Compared with the prior art, the method has the advantages of being high in personification degree, good in safety and high in passing efficiency.
本发明涉及一种考虑不确定性的无人车盲区路口规划方法,该方法包括以下步骤:步骤1、构建考虑驾驶员主观意识的盲区潜在交通参与者模型;步骤2、构建不确定性估计器,针对盲区不确定性和可见车辆意图不确定性进行联合推理,生成不确定因素的概率分布;步骤3、将不确定因素估计结果输入基于部分可观测马尔科夫模型的纵向速度规划器,获得无人车在无灯控盲区路口通行时的最优动作策略。与现有技术相比,本发明具有拟人化程度高、安全性好、通行效率高的优点。
Unmanned vehicle blind area intersection planning method considering uncertainty
一种考虑不确定性的无人车盲区路口规划方法
2023-07-11
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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