The invention discloses a ramp driving decision control method, a vehicle and a storage medium. The method comprises the steps of obtaining current driving state data of a target ramp vehicle and related vehicles at the current moment; determining a driving decision result corresponding to the driving style of the target ramp vehicle by adopting a vehicle driving decision network based on the current driving state data of the target ramp vehicle and the related vehicle; the driving style of the target ramp vehicle is determined based on a reward function of each driving style in a ramp afflux scene state environment included in the vehicle driving decision network; if the driving decision result is a target ramp vehicle lane changing afflux driving decision, historical driving state data of the target ramp vehicle and related vehicles in the target time period are obtained, and a predicted lane changing track corresponding to the driving style of the target ramp vehicle in the future time period is determined based on the historical driving state data; and performing tracking control on the target ramp vehicle by adopting model prediction control based on the predicted lane changing trajectory.
本申请公开了一种匝道行驶决策的控制方法、车辆及存储介质,方法包括:获得当前时刻目标匝道车辆和相关车辆的当前行驶状态数据;基于目标匝道车辆和相关车辆的当前行驶状态数据,采用车辆行驶决策网络,确定与目标匝道车辆的驾驶风格对应的行驶决策结果;目标匝道车辆的驾驶风格是基于车辆行驶决策网络包括的匝道汇入场景状态环境中各驾驶风格的奖励函数确定的;若行驶决策结果为目标匝道车辆换道汇入行驶决策,获得目标匝道车辆和相关车辆在目标时段的历史行驶状态数据,并基于历史行驶状态数据,确定未来时段内与目标匝道车辆的驾驶风格对应的预测换道轨迹;基于预测换道轨迹,采用模型预测控制,对目标匝道车辆进行跟踪控制。
Ramp driving decision control method, vehicle and storage medium
一种匝道行驶决策的控制方法、车辆及存储介质
2023-12-22
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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