Lane decision method for automatic driving vehicles based on multi-objective decision matrix

A multi-objective decision-making and automatic driving technology, applied in the field of lane decision-making based on a multi-objective decision-making matrix, can solve problems such as too many considerations, complex calculations, lack of real-time and flexibility, etc., and achieve the effect of fast response and few parameters

Active Publication Date: 2018-09-28
北京领骏科技有限公司
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Problems solved by technology

These methods generally have the shortcomings of too many considerations, complex calculations, or lack of real-time and flexibility.

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  • Lane decision method for automatic driving vehicles based on multi-objective decision matrix
  • Lane decision method for automatic driving vehicles based on multi-objective decision matrix
  • Lane decision method for automatic driving vehicles based on multi-objective decision matrix

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Embodiment Construction

[0064] At the current level of technology, the perception system of autonomous driving vehicles mainly detects surrounding traffic conditions through cameras, radar, infrared rays, and ultrasonic waves. What can be detected includes information such as the type, speed, direction of movement, and lane of obstacles around the self-driving vehicle; traffic information such as traffic lights, road traffic lines, road speed limits, and road signs. Due to complex factors such as occlusion, illumination, and weather, the self-driving vehicle only has a high degree of confidence in the detected information of obstacles that are close to its surroundings.

[0065] Starting from the reliability of traffic information and the feasibility of lane decision-making, the method involved in the present invention proposes to use the lane where the automatic driving vehicle is located, the left lane and the right lane of the automatic driving vehicle as the lanes to be decided, and the distance o...

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Abstract

The invention provides a lane decision method for automatic driving vehicles based on a multi-objective decision matrix. The lane decision method includes the following steps that (1), a left lane, alane where the automatic driving vehicles are located and a right lane of the automatic driving vehicles are regarded as to-be-decided lanes, continuous-running distance and speed-limiting informationof each to-be-decided lane are collected, quantification is carried out on the information of each to-be-decided lane and evaluated information of each to-be-decided lane is obtained; (2), the information of barriers, closest relative to the vertical distance of the automatic driving vehicles, of the front side and the back side of each to-be-decided lane is collected, current location and speedinformation of the two barriers on the front and back and the location information after setting time are judged, and the relative distance the two barriers on the front and back relative to the automatic driving vehicles correspondingly at the current time and setting time is calculated; (3), integral evaluating information of the to-be-decided lanes is obtained by arranging the above informationand the decision matrix is formed; and (4), a decision lane is obtained by dealing with and calculating the decision matrix, so that the real-time independent lane deciding of the automatic driving vehicles is achieved.

Description

technical field [0001] The present invention relates to an automatic driving method, in particular to a lane decision method based on a multi-objective decision matrix for an automatic driving vehicle. Background technique [0002] Autonomous driving is a key technology of intelligent transportation and an inevitable trend of future automobile development. Reducing driving stress, improving safety, avoiding traffic congestion and reducing pollution are the main starting points for the development of autonomous driving technology. As a complex system combining software and hardware, the safe and reliable operation of self-driving vehicles requires the cooperation of multiple modules such as on-board hardware, sensor integration, perception prediction, decision-making planning and control. Among them, the decision-making planning module is the key to realize safe and reliable vehicle automatic driving technology, so as to realize the widespread popularization of automatic dri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/00B60W40/02G06K9/62
CPCB60W40/00B60W40/02G06F18/211
Inventor 陈灿平杨文利何家瑞严晗
Owner 北京领骏科技有限公司
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