The invention discloses an automatic driving vehicle track generation method and a storage medium. The method comprises the following steps: encoding environment dynamic information, environment static information and vehicle information through a decision maker based on deep learning of probability prediction; the decision-making device outputs a continuous decision-making result of the vehicle in a preset time and the coding information of the corresponding associated obstacle; and the optimizer constructs an optimization target based on the content output by the decision maker and the vehicle dynamics model, and then outputs a vehicle track. And the decision-making device is used for dealing with the intent uncertainty of the exchange influence of the vehicle and other traffic participants based on probability prediction, and meanwhile, the solution space is reduced for the optimizer, so that the overall time consumption can be reduced.
一种自动驾驶车辆轨迹生成方法及存储介质,方法包括以下步骤:通过决策器基于概率预测的深度学习对环境动态信息、环境静态信息及车辆信息进行编码;决策器输出自车在预设时间内的连续决策结果,以及对应的关联障碍物的编码信息;优化器基于决策器输出的内容,以车辆动力学模型为基础,构建优化目标,然后输出车辆轨迹。而通过决策器基于概率的预测应对自车与其他交通参与者的交换影响的意图不确定性,同时也为优化器缩小解空间,可减少整体耗时。
Automatic driving vehicle track generation method and storage medium
一种自动驾驶车辆轨迹生成方法及存储介质
2024-05-28
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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