A vehicle automatic driving method and electronic device

Abstract

The invention discloses a vehicle automatic driving method and electronic equipment. The method includes: every preset decision-making time period, executing: expanding the position of each lane in the displacement direction of the vehicle's preset decision-making road area along time to obtain each The position-time diagram of a lane; step (S102), according to the displacement-time diagram of a plurality of lanes, with this car at the time node to be calculated, starting from the position to be calculated, the collection of all arrival positions that can be reached at the next time node as a search Domain; Calculate the cost of arriving at each arrival position in the search domain, and join the selected collection as the selected position with the arrival position meeting the requirements of the cost; if the termination condition is reached, then step (S105) is executed, otherwise step (S102) is executed; step (S105), controlling the vehicle to arrive at the corresponding selected position at the time node corresponding to the selected position of the selected set. The invention calculates reasonable driving actions according to the rules of movement of the self and other traffic participants in the dynamic environment.

Description

technical field [0001] The present invention relates to the technical field related to vehicles, in particular to a vehicle automatic driving method and electronic equipment. Background technique [0002] Autonomous driving technology can reduce the labor intensity and safety responsibilities of vehicle users related to driving. It is generally believed in the industry that vehicle autonomous driving technology is divided into four key parts: global path planning, environment perception and positioning, local motion planning, and motion execution. Among them, the local motion planning is responsible for determining the motion mode of the vehicle according to the vehicle itself and the environmental conditions. [0003] The motion of an autonomous vehicle includes two parts, lateral motion and longitudinal motion, which correspond to the state changes of the vehicle's driving direction and driving speed, respectively. [0004] In some technical solutions, the lateral moveme...

AI Technical Summary

Problems solved by technology

[0006] Based on this, it is necessary to provide a vehicle automatic driving method and electronic equipment for the technical problems existing in existing automatic driving.

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