The invention relates to the technical field of automatic driving, in particular to an automatic driving decision planning architecture based on vehicle-road cloud integration, which comprises a vehicle-end and road-end physical space and a cloud information space, and is characterized in that the vehicle-end and road-end physical space comprises traffic lights, road-side equipment and intelligent networked vehicles, and the traffic lights, the road-side equipment and the intelligent networked vehicles upload sensing information to the cloud information space; the cloud information space carries out obstacle association based on the sensing information so as to predict future trajectory information, search a future driving behavior sequence of the intelligent networked automobile and issue the future driving behavior sequence to the intelligent networked automobile; if the communication between the intelligent networked automobile and the cloud information space is normal, the intelligent networked automobile performs automatic driving decision planning after receiving the future driving behavior sequence; and if the communication is interrupted, the intelligent networked automobile performs automatic driving decision planning based on the automobile end sensing information. Therefore, the problems that the driving safety is threatened and the vehicle cloud computing power distribution is unreasonable due to the fact that the vehicle end calculation of the current vehicle-road cloud integrated architecture seriously depends on the cloud end calculation are solved.
本申请涉及自动驾驶技术领域,特别涉及一种基于车路云一体化的自动驾驶决策规划架构,包括车端路端物理空间和云端信息空间,其中,车端路端物理空间包括交通信号灯、路侧设备和智能网联汽车,它们将感知信息上传至云端信息空间;云端信息空间基于感知信息进行障碍物关联,从而预测未来轨迹信息,搜索智能网联汽车的未来驾驶行为序列,并下发至智能网联汽车;若智能网联汽车与云端信息空间通信正常,智能网联汽车在收到未来驾驶行为序列后,进行自动驾驶决策规划;若通信中断,智能网联汽车基于车端感知信息进行自动驾驶决策规划。由此,解决了目前车路云一体化架构的车端计算严重依赖云端计算,从而威胁驾驶安全以及车云算力分配不合理等问题。
Automatic driving decision planning architecture based on vehicle and road cloud integration
基于车路云一体化的自动驾驶决策规划架构
2024-05-31
Patent
Electronic Resource
Chinese
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