The invention belongs to the technical field of automobiles, and particularly relates to an anthropomorphic driving behavior planning method. Comprising the following steps: step 1, determining a driving scheme according to the speed of a vehicle arriving at an intersection; 2, optimizing the speed according to the determined driving scheme; step 3, planning a driving path of the anthropomorphic intersection; and step 4, planning the lane changing path of the anthropomorphic intersection. Different driving schemes are generated according to the current vehicle speed of the vehicle and the speed limit of the intersection, and the automatic driving system can meet the requirements of different types of drivers by generating the different driving schemes; and after the driving scheme is determined, the speed in the driving scheme is planned through a cubic polynomial, so that the continuity during speed planning is ensured.

    本发明属于汽车技术领域,具体的说是一种拟人化驾驶行为规划方法。包括以下步骤:步骤一、根据车辆到达交叉路口时的速度确定驾驶方案;步骤二、根据确定的驾驶方案对速度进行优化;步骤三、对拟人化交叉路口的驾驶路径进行规划;步骤四、对拟人化交叉路口的换道路径进行规划。本发明通过本车当前的车速以及交叉路口的限速,生成不同的驾驶方案,通过生成不同的驾驶方案使得自动驾驶系统能够满足不同类型驾驶员的需求;并且确定了驾驶方案后,通过三次多项式对驾驶方案中的速度进行规划,以保证在速度规划时的连续性。


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    Title :

    Personified driving behavior planning method


    Additional title:

    一种拟人化驾驶行为规划方法


    Contributors:
    GUAN XIN (author) / CAI LEI (author) / JIA XIN (author) / XU QIHONG (author)

    Publication date :

    2024-01-16


    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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