Autonomous vehicle deciding system under complicated working condition and track planning method thereof

Abstract

The invention discloses an autonomous vehicle deciding system under a complicated working condition and a track planning method thereof. The autonomous vehicle deciding system mainly comprises an environment sensing unit, a real-time deciding unit, a track planning unit and a control unit. During a driving process of a vehicle, the environment sensing unit is used for transmitting sensed surrounding vehicle moving information to the real-time deciding unit and deciding the optimal driving behavior of an autonomous vehicle under a current state; after the driving behavior is decided, the trackplanning unit is used for carrying out dual planning on a path and the speed of the vehicle through the set track planning method and obtaining the optimal track under the current state and inputtingcorresponding control signals to an execution mechanism through an ECU (Electronic Control Unit) so as to ensure safe and reliable driving of the vehicle. According to the autonomous vehicle decidingsystem and the track planning method, disclosed by the invention, a safe and collision-free track can be planned for the vehicle in real time under the complicated condition with multiple lanes and multiple barrier vehicles, and automatic driving of the vehicle can be realized.

Description

technical field [0001] The invention belongs to the technical field of vehicle automatic driving, and in particular relates to a decision system for an automatic driving vehicle under complex working conditions and a trajectory planning method thereof. Background technique [0002] With the improvement of sensor accuracy, the development of chip technology, and the arrival of 5G communication, more and more researches are being done on the autonomous driving of vehicles. The main purpose of the research is to reduce traffic accidents, alleviate traffic jams, and reduce the driving burden of drivers. At present, many international companies, such as Google, General Motors, and Tesla, have invested a lot of energy in researching high-level autonomous vehicles. [0003] As the core part of the vehicle's automatic driving technology, it is particularly important for the decision-making system to make real-time decisions on a safe and reliable trajectory that can avoid surroundin...

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Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a decision-making system for an automatic driving vehicle under complex working conditions and its trajectory planning method, so as to solve the problems in the prior art under complex working conditions such as multi-lane and high-speed scenes. Intelligent decision-making and trajectory planning issues, through the technical solution of the present invention, a safe and stable trajectory can be planned in real time to realize the automatic driving of vehicles

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