The invention discloses a vehicle motion planning method and device, electronic equipment and a medium, and the method is applied to a target vehicle, and comprises the steps: obtaining an observable variable used for representing the driving environment information of the target vehicle, the potential variables are used for representing perception decision-making capabilities of traffic participants except the target vehicle; the risk cost function is constructed in advance and is based on a moral driving principle; according to the observable variable and the potential variable, calculating a potential risk probability of collision when the target vehicle interacts with the traffic participant; and planning an expected motion state of the target vehicle at the next moment based on the risk cost function and the potential risk probability. Therefore, the vehicle evaluates the potential risk probability of collision with the traffic participant by acquiring the surrounding environment information such as the perception decision-making ability of the traffic participant, and plans the motion state of the vehicle at the next moment according to the potential risk probability under the constraint of the moral driving principle, thereby realizing the driving risk minimization under the moral driving principle.
本申请公开了一种车辆的运动规划方法、装置、电子设备及介质,该方法应用于目标车辆,包括:获取用于表征目标车辆驾驶环境信息的可观测变量,用于表征除目标车辆之外的交通参与者感知决策能力的潜在变量和预先构建的基于道德驾驶原则的风险成本函数;根据可观测变量和潜在变量,计算目标车辆与交通参与者交互时发生碰撞的潜在风险概率;基于风险成本函数和潜在风险概率,规划目标车辆下一时刻的期望运动状态。由此,车辆通过获取交通参与者的感知决策能力等周围环境信息,评估与交通参与者发生碰撞的潜在风险概率,并在道德驾驶原则的约束下,根据潜在风险概率规划车辆下一时刻运动状态,实现道德驾驶原则下的驾驶风险最小化。
Vehicle motion planning method and device, electronic equipment and medium
一种车辆的运动规划方法、装置、电子设备及介质
2024-10-08
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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