A driving decision-making system and method for fusing vision and sensor information
A decision-making method and sensor technology, applied in the traffic control system of road vehicles, traffic control systems, instruments, etc., can solve the problems of poor generalization ability in unknown situations, and the inability of the decision-making model to fully understand the environmental input, etc., to improve the efficiency of strategy search , the effect of good generalization ability
Active Publication Date: 2021-07-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0004] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a driving decision-making system and method that fuses vision and sensor information to solve the problem that the decision-making model in the prior art cannot fully understand the environmental input and has poor generalization ability to unknown situations. problem; the present invention improves the reliability of smart car decision-making
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[0073] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.
[0074] refer to figure 1 As shown, a driving decision-making system that fuses vision and sensor information of the present invention includes a sensor module, a vision and sensor data fusion module, a decision-making module and a control module;
[0075] The sensor module includes: a camera, a GPS and a vehicle speed sensor; the camera is used to collect image information of roads, lane lines and other vehicles around the current driving vehicle; the GPS and the vehicle speed sensor are used to collect the position of the current driving vehicle and speed information; the camera is a surround-view camera, which is distributed around the vehicle and provides a 360-degree surround view withou...
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The invention discloses a driving decision-making system and method for fusing visual and sensor information, including a sensor module, a visual and sensor data fusion module, a decision-making module and a control module; the sensor module collects roads around the current driving vehicle, lane lines and others Vehicle image information, current driving vehicle position and speed information; visual and sensor data fusion module, separate and extract lane lines, road structure, other road users and spatial features from image information, extract current data from GPS and vehicle speed sensor data The motion characteristics of the vehicle; the decision-making module, which obtains the decision-making quantity of the current vehicle through the decision-making model; the control module, which drives the steering motor, pedals and braking system of the self-driving vehicle, controls the vehicle to complete the driving task, and updates the position and speed status of the vehicle. The invention improves the generalization ability, can deal with abnormal situations that do not appear in samples, and realizes safer, stable and efficient autonomous driving of intelligent vehicles.
Description
technical field [0001] The invention belongs to the technical field of intelligent driving, and in particular relates to a driving decision-making system and method for fusing vision and sensor information. Background technique [0002] With the increasing number of cars, road traffic tends to be denser and more complicated, which leads to an increase in driving pressure, which reduces the driving ability of drivers in normal traffic scenarios and greatly increases the probability of traffic accidents. Among them, lane-changing behavior is one of the important causes of traffic accidents and traffic congestion, especially in urban areas, where the traffic density is high, and lane-changing collisions are prone to occur, and even lead to serial rear-end collisions. Compared with human driving, the intelligent driving system has the advantages of short reaction time and high perception accuracy. Therefore, the study of intelligent driving technology is of great significance to...
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IPC IPC(8): G08G1/0967
CPCG08G1/096725
Inventor 李琳赵万忠程青云徐灿
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS