A method for planning an optimal driving behavior for an at least partially autonomous driving vehicle includes: acquiring sensor data, the sensor data including ambient environment information and/or state information of the vehicle; ascertaining a first evaluation function for assigning a goodness to each possible state of the vehicle at discrete time points within a planned range of the vehicle on the basis of the sensor data; calculating a local optimal value of the first evaluation function at each discrete time point, wherein the local optimal value represents a possible state of the vehicle at the assigned discrete time point; solving a candidate trajectory, wherein the candidate trajectory is composed of a time sequence of local optimal values; evaluating the candidate trajectory by means of a second evaluation function, the second evaluation function evaluating a state transition between successive states of the candidate trajectory; selecting an optimal candidate trajectory from the candidate trajectories based on the first and second evaluation functions; and transmitting the selected optimal candidate trajectory to a control unit of the vehicle for planning the optimal driving behavior of the vehicle.

    用于为至少部分自主驾驶车辆规划最优驾驶行为的方法,包括:获取传感器数据,传感器数据包含车辆的周围环境信息和/或状态信息;求取第一评价函数,第一评价函数用于,基于传感器数据,给车辆的在车辆的规划范围内的离散时间点的每个可能状态分配一优度;求取第一评价函数在每个离散时间点的局部最优值,局部最优值代表车辆在配属的离散时间点的可能状态;求取候选轨迹,候选轨迹由局部最优值的时间序列组成;借助第二评价函数评价候选轨迹,第二评价函数评价候选轨迹的前后相继的状态之间的状态过渡;基于第一和第二评价函数从候选轨迹中选择最优的候选轨迹;将所选择的最优的候选轨迹传送给车辆的控制单元,用于规划车辆的最优驾驶行为。


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    Title :

    Method for planning optimal driving behavior for at least partially autonomous driving vehicle


    Additional title:

    用于为至少部分自主驾驶车辆规划最优驾驶行为的方法


    Contributors:

    Publication date :

    2025-02-18


    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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