Provided are a longitudinal and lateral integrated moving horizon decision making method and apparatus for an autonomous vehicle in a snowy and icy environment based on trajectory prediction, with an aim of reducing the complexity of planning a lane-changing trajectory. The method includes: screening out at least one obstacle, planning a lane-changing trajectory according to the at least one obstacle, establishing a decision making model according to the lane-changing trajectory, and controlling the autonomous vehicle by designing a longitudinal and lateral integrated moving horizon decision making controller according to the decision making model. Further provided are a longitudinal and lateral integrated moving horizon decision making apparatus for an autonomous vehicle in a snowy and icy environment based on trajectory prediction and a storage medium.
LONGITUDINAL AND LATERAL INTEGRATED MOVING HORIZON DECISION MAKING METHOD AND APPARATUS FOR AUTONOMOUS VEHICLE IN SNOWY AND ICY ENVIRONMENT BASED ON TRAJECTORY PREDICTION
2022-10-13
Patent
Electronic Resource
English
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