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Dynamic behavior decision-making method for autonomous vehicle in networked environment

A technology of automatic driving and decision-making method, which is applied in the direction of motor vehicles, vehicle position/route/altitude control, non-electric variable control, etc.

Active Publication Date: 2019-11-22
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The limitations of existing decision-making methods lead to restrictions on the intelligence level of smart vehicles. Therefore, it is necessary to develop a method and device for dynamic behavior decision-making of autonomous vehicles in a networked environment.

Method used

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  • Dynamic behavior decision-making method for autonomous vehicle in networked environment
  • Dynamic behavior decision-making method for autonomous vehicle in networked environment
  • Dynamic behavior decision-making method for autonomous vehicle in networked environment

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Embodiment Construction

[0107] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0108] see figure 1 , a method for decision-making of dynamic behavior of an autonomous driving vehicle in a networked environment according to an embodiment of the present invention, the method includes the following steps S1-S3.

[0109] Step S1, when the self-vehicle is in the V2X network environment, the surrounding road users obtain the surrounding environment information; and take the center of mass of the self-vehicle as the center, divide the area with different radii, and estimate the risk area. The ego vehicle is an autonomous vehicle. The surrounding environment information includes, for example, the position and speed information of road users such as surrounding vehicles, cyclists, pedestrians and obstacles. The estimated risk area is equivalent to Figure 4 The preprocessing of the risk prediction link in the process determines the ris...

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Abstract

The invention discloses a dynamic behavior decision-making method for an autonomous vehicle in a networked environment. The method includes: step one, acquiring ambient environment information by a surrounding road user in a V2X network connection environment of an own vehicle; with the center of mass of the own vehicle as the center, carrying out regional division at different radiuses and predicting a risk area; step two, carrying out first-stage behavior decision making based on the ambient environment information of the surrounding road user and the predicted risk area, and determining anavailable feasible action set for ensuring the own vehicle driving safety; and S3, carrying out second-stage behavior decision making; to be specific, selecting a finally performed action preferably from the available feasible action set with consideration of the non-safety constraint conditions, and carrying out driving behavior decision making.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a dynamic behavior decision-making method of an automatic driving vehicle in a networked environment. Background technique [0002] The development of intelligent transportation has brought convenience, but it has also caused potential traffic accidents. Therefore, the safe driving of vehicles has become a key factor in modern intelligent transportation systems. Although active safety systems and passive safety systems are gradually matured and applied to avoid vehicle collisions and minimize the impact of accidents, there is still a strong demand for reducing the incidence of traffic accidents and improving vehicle safety. In recent years, autonomous vehicles have drawn intense attention from the automotive industry due to their potential applications in collision avoidance. However, autonomous driving to achieve the goal of "zero accidents on the road" remains a complex task....

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
CPCG05D1/0061
Inventor 王建强黄荷叶吴浩然郑讯佳许庆李克强田洪清涂茂然
Owner TSINGHUA UNIV
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