Unmanned vehicle urban intersection left turn decision-making method based on conflict resolution

Abstract

The invention discloses an unmanned vehicle urban intersection left-turn decision-making method based on conflict resolution. The method comprises the steps of track prediction for straight vehicles at an intersection, decision-making process selection of a behavior decision-making module corresponding to different scenes, and vehicle control parameter selection corresponding to an action selection module. According to the invention, the decision-making framework of the left turn of the unmanned vehicle at the intersection is divided into environment assessment, behavior decision-making and action selection; prediction of intersection straight driving motion tracks is realized by using a Gaussian process regression model, decision-making processes under different left-turn scenes are formulated, and an unmanned vehicle driving action selection method considering multiple factors is provided; and the decision-making process of the left turn of the unmanned vehicle at the intersection isstructured and clarified, so that the reasonability and the adaptability of the decision-making model are improved.

Description

technical field [0001] The invention relates to the field of unmanned driving, in particular to a decision-making method for unmanned vehicles to turn left at urban intersections based on conflict resolution. Background technique [0002] The rise and development of unmanned driving technology provides new ideas for solving the problem of urban road congestion and reducing traffic safety hazards. In the complex and dynamic urban road environment, affected by travel purposes and traffic flow, time or space conflicts will inevitably occur between different traffic participants. In order for unmanned vehicles to successfully complete the traffic task, its decision-making system needs to evaluate and understand the driving environment as accurately as possible, and choose reasonable driving actions to accurately avoid conflict areas. [0003] At intersections with complete signal light control, unmanned vehicles can pass in a safe and orderly manner directly according to the in...

AI Technical Summary

Problems solved by technology

The invention uses a machine learning method to carry out probability fitting on a large number of real vehicle trajectories, and realizes high-precision prediction of the trajectories of straight-going vehicles at intersections in the medium and short time range; in terms of behavior decision-making, the existing methods mainly study left-turn vehicles and Conflict between a straight vehicle, poor adaptability

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