The invention provides an automatic driving planning decision-making method and device. The method comprises the following steps: acquiring an own vehicle track point of a target vehicle in a preset time period based on a geodetic coordinate system; constructing a prediction line equation based on the self-vehicle track points; acquiring a left and right lane line equation of a current driving lane of the target vehicle, a current self-vehicle speed and a current lane width under a self-vehicle coordinate system through a sensing system of the target vehicle; determining a lane line confidence level according to the prediction line equation, the left and right lane line equation, the current own vehicle speed and the current lane width; and determining a lane line following strategy according to the lane line confidence level. According to the method and the device, the control strategy can be determined by comparing the left and right lane lines of the lane with the predicted trajectory of the vehicle, the problems that a steering wheel is greatly adjusted and the driving direction does not conform to the expectation of a driver are avoided, and the automatic driving vehicle can still keep a stable and safe driving state in a complex and changeable urban road environment.
本申请提供一种自动驾驶规划决策方法及装置,该方法包括:基于大地坐标系获取目标车辆在预设时间段内的自车轨迹点;基于自车轨迹点构建预测线方程;通过目标车辆的感知系统,获取在自车坐标系下目标车辆当前行驶车道的左右车道线方程、当前自车车速以及当前车道宽度;根据预测线方程、左右车道线方程、当前自车车速以及当前车道宽度确定车道线置信度等级;根据车道线置信度等级确定车道线跟随策略。该方法及装置能够通过对比自车道左右车道线与自车预测轨迹确定控制策略,避免方向盘大幅调整和行车方向不符合驾驶员预期等问题,确保自动驾驶车辆在复杂多变的城市道路环境中,依然能够保持平稳、安全的行驶状态。
Automatic driving planning decision-making method and device
一种自动驾驶规划决策方法及装置
2024-11-22
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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