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An integrated rolling decision-making method, device and storage medium for unmanned vehicles in ice and snow environments based on trajectory prediction

A technology for unmanned vehicles and trajectory prediction, which is applied to control devices, vehicle components, transportation and packaging, etc., and can solve problems such as high complexity and mutual cooperation of decision-making parts

Active Publication Date: 2022-06-21
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current trajectory planning method has high complexity and is not suitable for cooperating with the decision-making part

Method used

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  • An integrated rolling decision-making method, device and storage medium for unmanned vehicles in ice and snow environments based on trajectory prediction
  • An integrated rolling decision-making method, device and storage medium for unmanned vehicles in ice and snow environments based on trajectory prediction
  • An integrated rolling decision-making method, device and storage medium for unmanned vehicles in ice and snow environments based on trajectory prediction

Examples

Experimental program
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Effect test

Embodiment 1

[0108] see figure 2 , a schematic diagram of an integrated rolling decision-making method for an unmanned vehicle in an ice and snow environment based on trajectory prediction provided by an embodiment of the present application, such as figure 2 As shown, the method includes steps S201 to S204:

[0109] S201. Screen obstacles;

[0110] S202, planning a lane change trajectory according to the obstacle;

[0111] S203, establishing a decision-making model according to the lane-changing trajectory;

[0112] S204. Control the vehicle according to the decision model.

[0113] In this embodiment, the obstacle and lane line information given by the sensor of the unmanned vehicle is used to screen out the obstacles before and after the lane, and decides the longitudinal vehicle speed, lane and lane change time, and the lane change trajectory is calculated by the lane change trajectory planning, At the same time, the longitudinal vehicle speed tracking is realized by the longitud...

Embodiment 2

[0204] Based on the same inventive concept, the embodiments of the present invention also provide an integrated rolling decision-making device for unmanned vehicles in ice and snow environments based on trajectory prediction, such as image 3 As shown, the device includes:

[0205] an obstacle screening module 301, configured to screen obstacles;

[0206] a planning module 302, configured to plan a lane change trajectory according to the obstacle;

[0207] a decision-making model establishing module 303, configured to establish a decision-making model according to the lane-changing trajectory;

[0208] A control module 304 is configured to control the vehicle according to the decision model.

[0209] It should be noted that, the obstacle screening module 301 provided in this embodiment can realize all the functions included in step S201 in the first embodiment, solve the same technical problem, and achieve the same technical effect, which will not be repeated here;

[0210]...

Embodiment 3

[0215] Based on the same inventive concept, the embodiments of the present invention also provide an integrated rolling decision-making device for unmanned vehicles in ice and snow environments based on trajectory prediction, such as Figure 4 As shown, the device includes:

[0216] including memory 402, processor 401 and user interface 403;

[0217] The memory 402 is used to store computer programs;

[0218] The user interface 403 is used to interact with the user;

[0219] The processor 401 is configured to read the computer program in the memory 402, and when the processor 401 executes the computer program, it realizes:

[0220] screening obstacles;

[0221] planning a lane change trajectory according to the obstacle;

[0222] establishing a decision-making model according to the lane-changing trajectory;

[0223] The vehicle is controlled according to the decision model.

[0224] Among them, in Figure 4 The bus architecture may include any number of interconnected ...

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Abstract

The present application discloses an integrated rolling decision-making method, device and storage medium for unmanned vehicles in ice and snow environments based on trajectory prediction, which are used to reduce the complexity of lane-changing trajectory planning. The integrated rolling decision-making method for unmanned vehicles in ice and snow environments based on trajectory prediction disclosed in this application includes: screening obstacles; planning lane-changing trajectories according to the obstacles; establishing a decision-making model according to the lane-changing trajectories; control the vehicle. The present application also provides an integrated rolling decision device and storage medium for unmanned vehicles in ice and snow environments based on trajectory prediction.

Description

technical field [0001] The present application relates to the field of unmanned driving, and in particular, to an integrated rolling decision-making method, device and storage medium for an unmanned vehicle in ice and snow environment based on trajectory prediction. Background technique [0002] In the ice and snow environment, the existing unmanned driving is generally divided into four parts: perception, decision-making, planning, and control. Among them, decision-making and planning are two important issues for unmanned driving. The function of the decision-making part is to decide the behavior of the vehicle, including lane change, acceleration and deceleration, according to the obstacle information obtained by the vehicle perception part. The function of planning is to plan a trajectory that the control part of the vehicle can execute according to the result of the decision, that is, the change of the position of the vehicle over time. The current trajectory planning m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W60/00B60W50/00
CPCB60W60/001B60W50/00B60W2552/50B60W2050/0034G06V20/58G06V20/588B60W60/0011B60W2555/20B60W2554/802B60W2554/804B60W30/09B60W2554/801B60W30/095B60W30/143B60W30/18163B60W40/02B60W40/105
Inventor 戴启坤郭洪艳刘俊陈虹高振海胡云峰许芳
Owner JILIN UNIV