The invention discloses a multi-task multi-target optimization decision planning processing method in automatic driving, which comprises the following steps of: in an automatic driving process, acquiring driving information of a vehicle, target vehicle information and driving environment information in real time; determining a target decision domain corresponding to the vehicle within the expected time; when it is determined that decision domain switching needs to be carried out, a control quantity corresponding to a target decision domain is obtained through calculation according to a preset optimization controller of the target decision domain; and adopting a soft switching control strategy of the dynamic buffer domain, controlling the vehicle by using the control quantity corresponding to the target decision domain, and switching the driving mode corresponding to the current decision domain of the vehicle to the driving mode corresponding to the target decision domain. The invention further discloses a corresponding system. According to the invention, the method can achieve the optimization of decision planning under the complex working conditions, such as an unprotected intersection, and improves the success rate of decision and the driving safety.
本发明公开了一种自动驾驶中多任务多目标优化决策规划处理方法,包括步骤:在自动驾驶过程中,实时获取本车辆行车信息、目标车辆信息及行驶环境信息;判定在期望时间内车辆对应的目标决策域;在确定需要进行决策域切换时,根据目标决策域预设定的优化控制器计算获得目标决策域对应的控制量;采用动态缓冲域的软切换控制策略,利用标决策域对应的控制量对车辆进行控制,将车辆从当前决策域对应的驾驶模式切换至目标决策域对应的驾驶模式。本发明还公开了相应的系统。实施本发明,能够实现在无保护交叉路口等复杂工况下的优化决策规划,提高了决策的成功率以及驾驶安全性。
Multi-task multi-objective optimization decision planning processing method and system in automatic driving
自动驾驶中多任务多目标优化决策规划处理方法及系统
2024-05-10
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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