The invention discloses an automatic driving decision-making method and device, and the method comprises the steps: carrying out the space search on an SLT space coordinate system, and determining a feasible solution of a driving track, the SLT space coordinate system is constructed based on perception information, prediction information and a high-precision map, and comprises the projection information of an obstacle on the SLT space coordinate system; obtaining a reference line cost value corresponding to an end point track road point of each feasible solution based on the projection information and the track road point information corresponding to each feasible solution; and determining a decision result based on the projection information, the feasible solution of the driving track and the reference line cost value corresponding to the end point track road point of each feasible solution, wherein the decision result comprises a first decision result in the transverse direction and a second decision result in the longitudinal direction. According to the scheme, all feasible solutions are fully considered, the success rate and feasibility of decision making are improved, fusion decision making in the transverse dimension and the longitudinal dimension at the same time is achieved, and the running smoothness and behavior consistency can be guaranteed.

    本发明公开一种自动驾驶决策方法及装置,方法包括在SLT空间坐标系上进行空间搜索,确定出行驶轨迹的可行解,SLT空间坐标系是基于感知信息、预测信息和高精度地图构建,其包括有障碍物在SLT空间坐标系上的投影信息;基于投影信息和各可行解对应的轨迹路点信息获取每个可行解的终点轨迹路点对应的参考线代价值;基于投影信息、行驶轨迹的可行解和各可行解的终点轨迹路点对应的参考线代价值确定出决策结果,决策结果包括横向上的第一决策结果和纵向上的第二决策结果。本发明的方案充分考虑了所有的可行解,提高了决策的成功率和可行性,且实现了同时在横向和纵向两个维度进行融合决策,能够保证行驶的流畅性和行为的一致性。


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    Title :

    Automatic driving decision-making method and device, mobile tool and storage medium


    Additional title:

    自动驾驶决策方法及装置、移动工具、存储介质


    Contributors:
    ZHANG SHUANGLIN (author) / ZHANG FANG (author) / XU CHENG (author)

    Publication date :

    2024-05-03


    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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