The invention relates to an automatic driving automobile decision control method based on a scene matrix, and the method comprises the steps: obtaining road parameters, the position information of an automobile, and the position and behavior information of a background automobile, and constructing a scene matrix which is used for describing the relative position of the automobile and the background automobile under the dynamic change in a selected scene; respectively calculating a decision security matrix, a decision efficiency matrix and a behavior preference matrix according to the scene matrix; and a comprehensive decision matrix is calculated, and through mapping of the comprehensive decision matrix to behaviors, self-vehicle decision is completed so as to correspondingly control the driving action of the vehicle. Compared with the prior art, the real road scene is simplified through the scene matrix, redundant and redundant information is filtered, and the calculation complexity is reduced; meanwhile, factors such as safety, efficiency and driver behavior preference are comprehensively considered, transverse and longitudinal comprehensive decision making can be achieved, and real-time performance and diversity of decision making are ensured.

    本发明涉及一种基于场景矩阵的自动驾驶汽车决策控制方法,包括:获取道路参数、自车位置信息、背景车的位置和行为信息,构建场景矩阵,用于刻画选定场景下自车和背景车在动态变化下的相对位置;根据场景矩阵,分别计算决策安全矩阵、决策效率矩阵和行为偏好矩阵;计算综合决策矩阵,通过综合决策矩阵对行为的映射,完成自车决策,以相应控制车辆的驾驶动作。与现有技术相比,本发明通过场景矩阵简化真实道路场景,过滤多余冗杂信息,降低了计算复杂度;同时综合考虑了安全、效率以及驾驶员行为偏好等因素,能够实现横纵向综合决策、确保决策的实时性和多样性。


    Access

    Download


    Export, share and cite



    Title :

    Automatic driving automobile decision control method based on scene matrix


    Additional title:

    一种基于场景矩阵的自动驾驶汽车决策控制方法


    Contributors:
    WU XINZHENG (author) / CHEN JUNYI (author) / CHEN SHUNXIANG (author) / SHEN YONG (author)

    Publication date :

    2024-09-20


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    Automobile steering control method suitable for automatic driving scene

    REN PEILIN / YAO SHUTONG / CHENG PENG et al. | European Patent Office | 2024

    Free access

    Automatic driving automobile control method for expressway open scene

    WANG YULEI / CUI ZHIHAO / CHEN HONG | European Patent Office | 2023

    Free access

    Automobile steering control method suitable for semi-automatic driving scene

    ZHU BO / XIANG WENMING / LIANG YANCHU et al. | European Patent Office | 2022

    Free access


    Decision control method of intelligent agent in automatic driving scene and vehicle driving system

    QIAN DEHENG / PAN YIFENG / DU DALONG et al. | European Patent Office | 2024

    Free access