Autonomous and collaborative driving decision making method for autonomous vehicle

Abstract

The invention proposes an autonomous and collaborative driving decision making method for an autonomous vehicle, and the method comprises the steps: collecting the moving state information of a vehicle through a vehicle-mounted detection system; employing a fuzzy function for achieving the fuzzification process of moving state information parameters of the vehicle, and estimating the moving statesof the vehicle and other neighbor vehicles; taking the moving state information parameters after fuzzification as the input parameters of an indistinct logic computer, and enabling the indistinct logic computer to infer a moving mode of the vehicle according to a set fuzzy rule; outputting an optimal driving mode decision making result of an independent vehicle through defuzzification processing,and achieving the autonomous and collaborative driving among the vehicles of a cluster. The beneficial effects of the invention are that the method achieves the autonomous and collaborative driving among the vehicles of the cluster through the information detection, computing and communication capabilities of the autonomous vehicle and the fuzzification and fuzzy logic inference of a vehicle moving stat parameter set, provides a reference for the selection of an optimal driving mode for the independent vehicle, improves the driving safety of a vehicle, reduces the travel time of the vehicle,and reduces the traffic energy consumption.

Description

technical field [0001] The invention relates to the Internet of Vehicles technology, and in particular to the autonomous cooperative driving technology among self-driving vehicles. Background technique [0002] The Internet of Vehicles (IoV) is the integration of wireless communication technology and transportation network. It is a typical application of the Internet of Things in the field of transportation, and it is the demand for the evolution to autonomous driving. Autonomous driving technology is a traffic intelligence and networking application with high mobility, complex road condition information, and high safety requirements. It is the development trend of road traffic and a necessary process for realizing unmanned driving. The autonomous cooperative driving of the vehicle is essentially a dynamic adjustment process of the driving trajectory according to the road traffic state, the vehicle's own driving state and the neighboring vehicles' driving state. In the Inte...

AI Technical Summary

Problems solved by technology

[0003] At present, self-driving vehicles independently rely on their own additional sensor detection and computing processing systems to collect and process traffic environment status information in real time to ensure vehicle safety. The overall traffic efficiency of the transportation network

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