The invention discloses a compliance safety decision planning system and method for an automatic driving automobile. The system comprises a sensing module, a navigation module, a compliance safety decision planning module and a control module. The compliance safety decision planning module comprises a decision layer and a planning layer. And the decision-making layer performs high-level planning based on the sensing module and the vehicle state information, and selects a proper driving strategy to meet traffic rules and safety requirements. And the planning layer performs path planning and track generation according to the driving strategy generated by the decision-making layer and the global reference path provided by the navigation module. The sensing module is used for acquiring vehicle information and traffic sign marking information in the surrounding environment, the navigation module provides a global reference path, and the control module is used for tracking and controlling a generated reference trajectory. The method has the advantage that the self-driving automobile can be ensured to meet the requirements of compliance and safety in a complex traffic scene. Different types of laws and regulations can be effectively processed and expanded, the calculation efficiency is high, and the real-time performance is high.

    本发明公开了一种自动驾驶汽车合规性安全决策规划系统和方法,包括感知模块、导航模块、合规性安全决策规划模块和控制模块。合规性安全决策规划模块包括决策层和规划层。决策层基于感知模块和自车状态信息进行高层次的规划,选择合适的行驶策略以满足交通规则和安全性要求。规划层根据决策层生成的行驶策略和导航模块提供的全局参考路径,进行路径规划和轨迹生成。感知模块用于获取周围环境中的车辆信息和交通标志标线信息,导航模块提供全局参考路径,控制模块用于跟踪控制生成的参考轨迹。本发明的优点是:能够确保自动驾驶汽车在复杂的交通场景中满足合规性和安全性要求。能够有效的处理不同类型的法规并进行拓展,计算效率高,实时性强。


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    Title :

    System and method for compliance safety decision planning of autonomous vehicle


    Additional title:

    自动驾驶汽车合规性安全决策规划系统和方法


    Contributors:
    MA XIAOHAN (author) / YANG LIN (author) / YU WENHAO (author) / WANG WEIDA (author) / YANG CHAO (author) / WANG HONG (author)

    Publication date :

    2023-11-10


    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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