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A Decision Planning Method for Unmanned Driving

An unmanned and decision-making technology, applied in the field of unmanned driving, can solve the problems of not considering the acceleration factor of unmanned vehicles, and it is difficult to obtain behavioral decisions, and achieve the effect of improving reliability and driving trajectory safety.

Active Publication Date: 2022-02-11
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the existing decision planning algorithm does not consider the acceleration factor of unmanned vehicles, it is difficult to obtain accurate behavioral decisions

Method used

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  • A Decision Planning Method for Unmanned Driving
  • A Decision Planning Method for Unmanned Driving
  • A Decision Planning Method for Unmanned Driving

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Embodiment Construction

[0036] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. After reading the present invention, those skilled in the art Modifications to various equivalent forms of the present invention fall within the scope of the appended claims of the present invention.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used in the description of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

[0038] refer to figure 1 As shown, the flow chart of the decision-making planning method for unma...

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Abstract

A decision planning method for unmanned driving, including: calculating the probability that each obstacle vehicle belongs to each lane according to the driving data of each obstacle vehicle; The probability of collision to determine the risk value of the main vehicle under different speed strategies, the speed strategy includes deceleration, constant speed and acceleration; according to the probability that each obstacle vehicle belongs to each lane, and the main vehicle at different speeds The risk value under the strategy determines the behavior of the host vehicle, and the behavior of the host vehicle includes lane change and speed adjustment strategies. The decision-making planning method provided by the invention can improve the reliability of behavior decision-making.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a decision planning method for unmanned driving. Background technique [0002] Driverless cars and intelligent transportation systems are seen as viable ways to deal with traffic congestion and accidents. In order to ensure safe and reliable driving of unmanned vehicles, decision planning algorithms play an important role in unmanned vehicle systems. [0003] However, the existing decision-making planning algorithms do not consider the acceleration factor of unmanned vehicles, and it is difficult to obtain accurate behavioral decisions. Therefore, how to improve the reliability of behavioral decision-making has become an urgent technical problem in this field. Contents of the invention [0004] The purpose of the present invention is to provide a decision-making planning method for unmanned driving, so as to improve the reliability of behavior decision-making. [00...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60W40/04B60W60/00
CPCB60W30/18163B60W40/04B60W60/001B60W60/0015B60W60/00276
Inventor 左志强李峥王一晶
Owner TIANJIN UNIV