The invention discloses an interconnected automatic driving decision-making method based on collaborative awareness and adaptive information fusion. The method mainly solves the problem that an existing automatic driving decision-making method is low in applicability under the complex road structure and traffic light information condition. According to the method, a multi-lane traffic environment under a world coordinate system is considered, and a mixed traffic flow composed of interconnected automatic driving vehicles and human driving vehicles exists in the multi-lane traffic environment. Each CAV can obtain surrounding multi-mode environment characteristics (such as lane information, HDV vehicle information and red and green traffic light information) through a vehicle-mounted sensor and an off-line high-precision map. With the help of vehicle-to-vehicle communication, the CAV can share its information and make a decision within a specified time step t. The aim of the method is to generate a speed decision and a steering angle decision for the CAV. With such an action decision, the autonomous vehicle can safely and effectively travel according to a specific route while maximizing the comfort of passengers and reducing their influence on surrounding HDVs.
本发明公开了一种基于协同感知和自适应信息融合的互联自动驾驶决策方法,主要解决现有自动驾驶决策在复杂的道路结构和交通灯信息条件下适用性较低的问题。该方法考虑在世界坐标系统下的多车道交通环境,其中有互联自动驾驶车辆和人类驾驶车辆组成的混合交通流。每个CAV都可以通过车载传感器和离线高精度地图获得周围的多模态环境特征(如车道信息、HDV车辆信息和红绿交通灯信息)。在车对车通信的帮助下,CAV可以共享其信息,并在指定的时间步长t内做出决策。该方法的目标是为CAV生成速度决策和转向角度决策。有了这样的动作决策,自动驾驶车辆可以安全有效地按特定路线行驶,同时最大限度地提高乘客的舒适度以及减少其对周围HDV的影响。
Interconnection automatic driving decision-making method based on collaborative awareness and adaptive information fusion
基于协同感知和自适应信息融合的互联自动驾驶决策方法
2024-04-26
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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