The invention relates to the technical field of automatic driving, in particular to an automatic driving vehicle mixed scene longitudinal control method and system, a terminal and a medium. According to the method, the motion state information of the controlled vehicle is acquired in real time, the motion state information is input into the pre-trained vehicle longitudinal control model, the target strategy action and the scene uncertainty evaluation result are output through the vehicle longitudinal control model, and the scene uncertainty evaluation result is used for evaluating the safety of the target strategy action; and determining a target control strategy based on the scene uncertainty evaluation result and a preset longitudinal control strategy switching condition, and performing longitudinal control on the controlled vehicle based on the target control strategy. Visibly, different target control strategies are matched for different scene uncertainty evaluation results, the accuracy of longitudinal control over the vehicle in various known training scenes and strange scenes can be improved, and therefore the vehicle driving safety can be improved.
本申请涉及自动驾驶技术领域,具体涉及自动驾驶车辆混合场景纵向控制方法、系统、终端和介质。本申请通过实时获取被控车辆的运动状态信息,将运动状态信息输入至预先训练好的车辆纵向控制模型中,通过车辆纵向控制模型输出目标策略动作和场景不确定性评估结果,场景不确定性评估结果用于评估目标策略动作的安全性;基于场景不确定性评估结果和预设的纵向控制策略切换条件,确定目标控制策略,并基于目标控制策略对被控车辆进行纵向控制。可见,本发明通过对不同的场景不确定性评估结果匹配不同的目标控制策略,能够提高在各种已知训练场景和陌生场景下对车辆进行纵向控制的精准性,从而有利于提高车辆行驶的安全性。
Automatic driving vehicle mixed scene longitudinal control method and system, vehicle and medium
自动驾驶车辆混合场景纵向控制方法、系统、车辆和介质
2024-07-16
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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