The invention provides an intelligent auxiliary driving hierarchical decision-making method and system, electronic equipment and a storage medium. The method comprises the steps of collecting a switching signal of an auxiliary driving mode of a vehicle; according to the driving state and the driving intention of the driver, one working state, including activation and standby, of the auxiliary driving mode is decided; when the auxiliary driving mode is in the activated state, the motion mode of the vehicle is decided according to the steering intention of the driver and the surrounding environment of the vehicle; according to the decided motion mode, the motion state of the vehicle and the surrounding environment, the driving behavior of the vehicle is decided in combination with historical vehicle following and lane keeping preferences of the driver; and performing safety pre-judgment on the decided driving behavior, and outputting a decision result under a safety condition conforming to the safety pre-judgment. According to the invention, the safety and comfort of vehicle auxiliary driving can be ensured, and the acceptability of the driver to the intelligent auxiliary driving system is improved.

    本发明提供了一种智能辅助驾驶分层决策方法、系统、电子设备及存储介质。该方法包括采集自车的辅助驾驶模式的开关信号;根据驾驶员的驾驶状态及驾驶意图,决策辅助驾驶模式的包括激活、待机中的一种工作状态;当辅助驾驶模式处于激活状态时,根据驾驶员的转向意图及所述自车的周边环境,决策自车的运动模式;根据决策出的运动模式和自车的运动状态及周边环境,并结合驾驶员的历史跟车及车道保持偏好,决策自车的驾驶行为;针对决策出的驾驶行为进行安全预判,并在符合安全预判的安全性条件下输出决策结果。通过本申请,可保证车辆辅助驾驶的安全性及舒适性的同时,提高驾驶员对智能辅助驾驶系统的接受度。


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    Title :

    Intelligent auxiliary driving hierarchical decision-making method and system, electronic equipment and storage medium


    Additional title:

    智能辅助驾驶分层决策方法、系统、电子设备及存储介质


    Contributors:
    ZHAO ZHIGUO (author) / LI WENCHANG (author) / ZHANG ZHOUPING (author) / TU PEIPEI (author)

    Publication date :

    2023-08-29


    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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