The invention relates to the technical field of automatic driving, particularly provides a vehicle driving track determination method, computer equipment, a storage medium and a vehicle, and aims to solve the problem of improving the planning reliability and safety of the vehicle driving track. In order to achieve the purpose, the method comprises the steps that forward driving of a vehicle serves as a constraint condition, according to an interaction scene of the vehicle at the current moment, interaction scenes of the vehicle at all future moments in multiple future moments are deduced in sequence, and a scene tree composed of the interaction scenes at the current moment and the interaction scenes at all the future moments is formed; respectively obtaining the scene value of each interaction intention in the interaction scene at each moment in the scene tree; obtaining the optimal interaction intention of the vehicle in the interaction scene at each moment according to the scene value; and determining the driving track of the vehicle according to the optimal interaction intention. Based on the method, the optimal interaction intention of the vehicle can better conform to the correct driving habit of human beings, and therefore the safety and reliability of automatic driving of the vehicle are guaranteed.
本发明涉及自动驾驶技术领域,具体提供一种车辆行驶轨迹的确定方法、计算机设备、存储介质及车辆,旨在解决提高车辆行驶轨迹的规划可靠性与安全性的问题。为此目的,本发明提供的方法包括:以车辆前向行驶为约束条件,根据车辆在当前时刻的交互场景,依次推演车辆在多个未来时刻中各未来时刻的交互场景,以形成由当前时刻与各未来时刻的交互场景构成的场景树;分别获取场景树中各时刻的交互场景中各交互意图的场景价值;根据场景价值分别获取车辆在各时刻的交互场景中最优的交互意图;根据最优的交互意图确定车辆的行驶轨迹。基于上述方法,可以使车辆的最优交互意图更加地符合人类的正确驾驶习惯,从而保证了车辆自动驾驶的安全性与可靠性。
Vehicle driving track determination method, computer equipment, storage medium and vehicle
车辆行驶轨迹的确定方法、计算机设备、存储介质及车辆
2023-11-17
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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