The invention relates to the technical field of automatic driving, and provides an intersection steering decision-making method and decision-making device. According to the method, target obstacle information of a moving object is obtained, the conflict time of the moving object and a target obstacle is determined, and a revenue function is constructed based on the conflict time, the self-vehicle decision probability of the moving object to the target obstacle and the decision probability of the target obstacle. Solving the revenue function to obtain a first target self-vehicle decision probability when the revenue function reaches a balance point, determining a convergence decision by using the first target self-vehicle decision probability, determining that the decision type of the convergence decision is different from the current decision type of the moving object, performing feasibility judgment and enhancement judgment on decision type conversion operation, according to the method, the intersection turning decision is made by combining the game and the rule, the more accurate decision result can be provided by dynamically adapting to the environment change through the game, the calculated amount is simplified by utilizing the constraint of the rule, the decision efficiency is greatly improved on the basis of not obviously reducing the decision quality, and the decision-making efficiency is improved. And thus, the road condition steering decision making efficiency is improved.

    本申请涉及自动驾驶技术领域,提供了一种路口转向决策方法和决策装置。该方法通过获取移动对象的目标障碍物信息,确定移动对象与目标障碍物的冲突时间,基于该冲突时间以及移动对象对目标障碍物的自车决策概率和目标障碍物的决策概率构建收益函数,求解收益函数获得达到平衡点时的第一目标自车决策概率,利用该第一目标自车决策概率确定收敛决策,确定收敛决策的决策类型与移动对象的当前决策类型不同,对决策类型转换操作进行可行性判断和增强判断,并根据判断结果确定决策结果,实现了结合博弈和规则进行路口转向决策,既能够通过博弈动态适应环境变化提供更为准确的决策结果,又利用规则的约束简化了计算量,在不明显降低决策质量的基础上大幅提高了决策效率,进而提高了路况转向决策的效率。


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    Title :

    Intersection steering decision-making method and decision-making device


    Additional title:

    路口转向决策方法和决策装置


    Contributors:
    CHENG XING (author) / MIAO QIANKUN (author) / LYU QIANG (author) / ZOU HANPENG (author) / LYU YANG (author) / WANG TAIXIANG (author)

    Publication date :

    2025-01-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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