The invention discloses an automatic driving decision-making method based on driving intensity, and the method comprises the steps: calculating the reachable space of a current vehicle based on the motion state and driving intensity of the vehicle, reducing the reachable space, and obtaining a drivable space; the method comprises the following steps: respectively constructing a vehicle operability evaluation model, an energy consumption level evaluation model and a following evaluation model, respectively solving the evaluation models by adopting a hierarchical binary optimization method, integrating evaluation results, selecting an optimal preview point from a drivable space, and determining the driving intensity of the optimal preview point. According to the method, the stability of multi-objective decision solving is improved, and the stability of the vehicle is ensured.
本发明公开了一种基于驾驶强度的自动驾驶决策方法,包括:基于车辆的运动状态和驾驶强度,计算当前车辆的可达空间,对可达空间进行缩减,获取可行驶空间;分别构建车辆易操作性评价模型、能耗水平评价模型和跟随性评价模型,采用层次二值优化方法分别对评价模型进行求解,综合评价结果,从可行驶空间中选取最优预瞄点,并确定所述最优预瞄点的驾驶强度。本发明提高了多目标决策求解的稳定性,保证了车辆的稳定性。
Automatic driving decision-making method based on driving intensity
一种基于驾驶强度的自动驾驶决策方法
2025-02-14
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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