A spatio-temporal behavior decision-making and trajectory planning system and method

Abstract

In the spatio-temporal behavior decision-making and trajectory planning system and method of the present disclosure, the long-period behavior decision-making and trajectory planning module is used to generate and expand voxels in three-dimensional driving space-time, and use the search method to find the voxel sequence with the lowest cost, and then determine the reference trajectory. Wherein, the voxel is the location set of the driving vehicle on the corresponding lane in the three-dimensional driving space-time within the planning time; the short-period dynamic programming module optimizes the reference trajectory by using the environmental information within the short period to obtain the optimal trajectory. Be able to solve the problem of safe and collision-free behavior decision-making and trajectory planning tasks in high-speed environments containing dynamic obstacles, balance the relationship between long-period decision planning and short-period trajectory planning to improve the efficiency of planning and decision-making, and To meet the needs of closely combining the decision-making module and the planning module, so that it can better adapt to the dynamic environment and realize autonomous intelligent planning and re-planning.

Description

technical field [0001] The present disclosure belongs to the technical field of automatic control, and in particular relates to a system and method for spatio-temporal behavior decision-making and trajectory planning. Background technique [0002] Autonomous driving and related research have made great progress in the past few decades. However, achieving high levels of autonomous driving in complex urban environments still faces great challenges. Among them, the intelligent behavior decision-making and efficient trajectory planning of unmanned vehicles are especially important in the highway environment full of dynamic obstacles, and the two are closely related. Therefore, in order to achieve the safety, efficiency, flexibility and automation of decision-making planning tasks, it is urgent to build a unified model framework that integrates behavioral decision-making and trajectory planning. [0003] The decision-making module and planning module in unmanned driving technol...

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Problems solved by technology

[0006] In view of this, this disclosure proposes a space-time behavior decision-making and trajectory planning system and method, which solves the problem of how to achieve safe and collision-free behavior decision-making and trajectory planning tasks in a high-speed environment containing dynamic obstacles, and balances long-period The relationship between decision-making planning and short-period trajectory planning to improve the efficiency of planning and decision-making, and to meet the needs of closely combining decision-making modules and planning modules, so that it can be more adaptable to dynamic environments, and realize autonomous intelligent planning and heavy-duty planning

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