The invention discloses an unmanned driving safety decision-making method and device, a medium and a product, and relates to the technical field of intelligent vehicle decision-making and planning, and the method comprises the steps: determining a first decision-making value of the future longitudinal acceleration of a target vehicle based on the environment information of the target vehicle and a first decision-making model; determining an ST graph and a safety state of the target vehicle in a preset future time period based on the environment information of the target vehicle, the historical vehicle information of each surrounding vehicle, the first decision value and an intention identification and safety state determination model; if so, determining the first decision value as an actual value of the longitudinal acceleration of the target vehicle; and if the collision risk exists, determining a second decision value of the future longitudinal acceleration of the target vehicle based on the vehicle information of the target vehicle, the ST graph, the first decision value and an improved Monte Carlo tree algorithm, and determining the second decision value as an actual value of the longitudinal acceleration of the target vehicle. According to the invention, the collision rate of vehicles at the intersection is reduced, and the vehicle passing efficiency is improved.

    本发明公开一种无人驾驶安全决策方法、装置、介质及产品,涉及智能车辆决策与规划技术领域,所述方法包括:基于目标车辆的环境信息和第一决策模型,确定目标车辆未来纵向加速度的第一决策值;基于目标车辆的环境信息、各周围车辆的历史车辆信息、第一决策值以及意图识别与安全状态判定模型,确定目标车辆预设未来时段的ST图和安全状态;若安全,则将第一决策值确定为目标车辆的纵向加速度的实际值;若存在碰撞风险,则基于目标车辆的车辆信息、ST图、第一决策值以及改进蒙特卡洛树算法,确定目标车辆未来纵向加速度的第二决策值,并将第二决策值确定为目标车辆的纵向加速度的实际值。本发明降低了车辆在交叉口的碰撞率,提高了车辆通行效率。


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    Title :

    Unmanned driving safety decision-making method and device, medium and product


    Additional title:

    一种无人驾驶安全决策方法、装置、介质及产品


    Contributors:
    ZHANG LEI (author) / WANG ZHENPO (author) / CHENG SHUHUI (author)

    Publication date :

    2024-08-16


    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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