A kind of intelligent vehicle multi-objective driving control method and decision-making system

Abstract

The invention discloses a multi-target driving control method and a decision-making system for a smart vehicle. The method comprises the following steps: S1, formulating a driving operation of a to-be-controlled vehicle, which is planned to be executed; S2, collecting information; S3, generating a decision Map; S4, judging whether decision points corresponding to the position and speed of other road users are valid or not, and if not, entering a step S6; otherwise, entering a step S5; S5, executing the driving operation planned to be executed; S6, when other road users maintain the current speed to drive, judging whether effective decision points can be obtained: if so, entering S7; otherwise, entering S8; S7, selecting a decision point with the highest decision gain in the obtained effective decision points, and executing the driving operation planned to be executed according to the decision point; and S8, the to-be-controlled vehicle giving up the driving operation planned to be executed and being stopped for waiting. According to the control method and the decision-making system in the invention, various factors in various traffic environments can be comprehensively considered,and a driving decision of the automatic driving vehicle considering the safety and the efficiency is achieved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a multi-objective driving control method and a decision-making system for an intelligent vehicle. Background technique [0002] Autonomous driving and unmanned driving technologies have developed rapidly in recent years. As a technology carrier, the driving decision of smart vehicles not only directly determines the riding experience of the passengers in the vehicle to be controlled, but also has a direct impact on other traffic participants in the road traffic environment. Impact. Therefore, improving the rationality of autonomous driving decision-making behavior is of great significance for the development of autonomous driving technology. [0003] The development of autonomous driving technology is a gradual process. In the short to medium term, autonomous vehicles will share the same traffic environment with vehicles driven by human drivers. However, current self-...

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Problems solved by technology

However, the invention discloses the types of input and output data of the trained decision-making model, and does not clarify the specific structure of the decision-making model and the specific operation method of decision-making model training

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