The invention is suitable for the technical field of automatic driving, and provides an intelligent vehicle driving behavior decision-making method based on a reliable behavior set, which comprises the following steps: according to surrounding environment information collected by an intelligent vehicle, based on urban traffic regulation constraint screening, combining with a macroscopic path requirement of the intelligent vehicle; setting a traffic regulation screening threshold and a macroscopic path screening threshold, and creating a reliable driving behavior set; considering the influence of urban traffic scenes and driving psychology on a decision result, establishing four driving behavior evaluation indexes, and calculating a utility value of each behavior; an optimal behavior comprehensive decision model is established, and a quasi-optimal driving behavior is obtained through preliminary decision in combination with the comprehensive evaluation of each driving behavior and a decision income threshold; and for the selected behaviors with the same utility value, according to a lane optimization principle, finally deciding the optimal driving behavior of the vehicle. According to the invention, the intelligent vehicle can safely and efficiently pass on the urban road, and the operation habit of a human driver is better met.
本发明适用于自动驾驶技术领域,提供了一种基于可靠行为集的智能车辆驾驶行为决策方法,包括以下步骤:根据智能车辆采集的周围环境信息,基于城市交通法规约束筛选,并结合自身宏观路径要求,设置交通法规筛选门槛和宏观路径筛选门槛,创建可靠驾驶行为集;考虑城市交通场景及驾驶心理对决策结果的影响,建立四项驾驶行为评价指标,计算各行为的效用值;建立最优行为综合决策模型,结合各驾驶行为综合评价以及决策收益门槛,初步决策得到拟最优驾驶行为;对于所选出的同等效用值的行为,根据车道优选原则,最终决策出车辆的最优驾驶行为。本发明能够使智能车辆在城市道路下既安全高效地通行,也更加符合人类驾驶员的操作习惯。
Intelligent vehicle driving behavior decision-making method based on reliable behavior set
一种基于可靠行为集的智能车辆驾驶行为决策方法
2023-10-13
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 |
Vehicle intelligent driving behavior decision-making method and system
European Patent Office | 2023
|INTELLIGENT DRIVING DECISION-MAKING METHOD, DECISION-MAKING APPARATUS AND VEHICLE
European Patent Office | 2024
|Automatic driving behavior decision-making method based on surrounding vehicle behaviors
European Patent Office | 2021
|Behavior decision-making method for intelligent vehicle passing intersection
European Patent Office | 2023
|European Patent Office | 2024
|