The invention discloses a vehicle cooperative collision avoidance method in automatic driving trajectory planning, and the method comprises the steps: collecting the trajectory data and environment information of a vehicle through a vehicle-mounted sensor, and uploading the trajectory data and environment information to a distributed block chain network for verification and sharing; dynamic environment data are collected and fused through the V2X communication technology, and future tracks of surrounding vehicles are predicted through a deep learning algorithm; based on the vehicle data, the dynamic environment data and the future trajectory prediction data shared by the block chain, trajectory planning and collision avoidance decisions are collaboratively optimized through a multi-agent system, and optimized trajectory planning data are generated; further optimizing the optimized trajectory planning data through quantum computing to generate final optimized trajectory planning data; the high-precision GNSS and the GIS are used for real-time navigation and driving control, actual driving data are fed back to the block chain network, high-precision real-time sensing, accurate track prediction and global optimal track planning are achieved, and the safety and efficiency of an automatic driving system are improved.

    本发明公开了自动驾驶轨迹规划中车辆协同避撞方法,通过车载传感器采集车辆的轨迹数据和环境信息,并上传至分布式区块链网络进行验证与共享;通过V2X通信技术采集并融合动态环境数据,利用深度学习算法预测周围车辆的未来轨迹;基于区块链共享的车辆数据、动态环境数据和未来轨迹预测数据,通过多智能体系统协同优化轨迹规划和避撞决策,生成优化的轨迹规划数据;通过量子计算对优化的轨迹规划数据进行进一步优化,生成最终优化的轨迹规划数据;利用高精度GNSS和GIS进行实时导航与行驶控制,并反馈实际行驶数据至区块链网络,本发明实现了高精度的实时感知、精准的轨迹预测和全局最优的轨迹规划,提高了自动驾驶系统的安全性和效率。


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    Title :

    Vehicle cooperative collision avoidance method in automatic driving trajectory planning


    Additional title:

    自动驾驶轨迹规划中车辆协同避撞方法


    Contributors:
    LI ZHIGANG (author) / ZHANG JUNSONG (author) / LIU YANPEI (author) / HU YING (author) / LIU JINGYU (author) / LI LUYAO (author) / DONG PEIYAO (author) / XIE YUYE (author)

    Publication date :

    2024-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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