The embodiment of the invention discloses an interactive decision-making method and device of a vehicle, electronic equipment and a storage medium, and the method comprises the steps: determining a plurality of transverse behavior semantics in a pre-decision-making track of a current vehicle, sequentially determining each piece of prediction state information under each transverse behavior semantic from the first transverse behavior semantic, and finally, obtaining a first longitudinal acceleration sequence of the current vehicle in the pre-decision trajectory, the decision trajectory of each obstacle and a corresponding second longitudinal acceleration sequence according to the state income of each piece of prediction state information under all transverse behavior semantics, thereby realizing the longitudinal behavior decision of the current vehicle. According to the method, the next state is sequentially predicted on the basis that the longitudinal behavior is interactively solved in one state, so that the intention prediction of the obstacle in each state is more accurate, and the problem of low decision accuracy caused by the behavior change of the vehicle and the intention change of the obstacle in different states is solved; and the decision reliability is improved.

    本公开实施例公开了一种车辆的交互决策方法、装置、电子设备和存储介质,该方法通过在当前车辆的预决策轨迹中确定多个横向行为语义,从首个横向行为语义开始,依次确定每个横向行为语义下的各预测状态信息,最终根据所有横向行为语义下的各预测状态信息的状态收益,得到当前车辆在预决策轨迹中的第一纵向加速度序列、以及各障碍物的决策轨迹和对应的第二纵向加速度序列,实现了当前车辆的纵向行为决策,以及障碍物的横纵向行为决策,该方法在一个状态交互求解出纵向行为的基础上依次预测下一个状态,使得各状态中障碍物意图预测更加准确,解决了由于不同状态下自车行为改变及障碍物意图变化所导致的决策准确性低的问题,提高了决策可靠性。


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    Title :

    Vehicle interaction decision-making method and device, electronic equipment and storage medium


    Additional title:

    车辆的交互决策方法、装置、电子设备和存储介质


    Contributors:
    MU BOWEN (author) / LI KAITLYNN (author) / ZHANG ZHICHEN (author)

    Publication date :

    2023-11-07


    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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