The invention belongs to the field of automatic driving, and particularly relates to a non-signal intersection automatic driving decision-making method. The method includes decoupling vehicle control into lateral control and longitudinal control; a transverse driving decision-making model based on a tracking algorithm is adopted, the method is suitable for a transverse driving decision-making scene, the risk of departing from a lane is reduced, and the overall driving safety is improved. A longitudinal driving decision model based on collision probability prediction is adopted, wind direction levels of related vehicles are evaluated by predicting whether future driving paths of surrounding vehicles conflict with future driving paths of autonomous vehicles, and different risk levels are defined, so that risk evaluation results of the autonomous vehicles are determined, and the risk evaluation efficiency of the autonomous vehicles is improved. Selecting to use a longitudinal driving decision model based on collision probability prediction or a longitudinal driving decision model based on deep reinforcement learning to obtain a longitudinal control decision of the autonomous vehicle by using a relationship between a risk assessment result and a global risk threshold; according to the invention, a more reliable driving decision is realized.

    本发明属于自动驾驶领域,具体涉及一种无信号交叉路口自动驾驶决策方法;所述方法包括将车辆控制解耦为横向控制和纵向控制;采用基于追踪算法的横向驾驶决策模型,适用于横向驾驶决策场景,有助于减少偏离车道的风险,并提高整体行驶的安全性。采用了基于碰撞概率预测的纵向驾驶决策模型,通过预测周围车辆未来行驶路径与自主车辆未来行驶路径是否有冲突,来评估相关车辆的风向级别,并定义了不同的风险级别,从而确定出自主车辆的风险评估结果,利用风险评估结果与全局风险阈值的关系,来选择利用基于碰撞概率预测的纵向驾驶决策模型还是利用基于深度强化学习的纵向驾驶决策模型来得到自主车辆的纵向控制决策;本发明实现了更可靠的驾驶决策。


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    Title :

    Non-signal intersection automatic driving decision-making method


    Additional title:

    一种无信号交叉路口自动驾驶决策方法


    Contributors:
    YU HONG (author) / WU BIN (author) / GENG YAOGANG (author) / WANG YE (author) / ZHAO JUNHONG (author)

    Publication date :

    2024-11-12


    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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