Automatic driving behavior decision-making system and motion planning method suitable for roundabout

Abstract

The invention discloses an automatic driving behavior decision-making system and motion planning method suitable for a roundabout. The method comprises the steps of building a roundabout road model ML, a roundabout scene model MS and an automatic driving vehicle motion model MV according to road information, scene information and vehicle state information; abstracting driving behavior decision elements into a series of driving state and behavior action state machine sets, and constructing a hierarchical extended finite state machine (EFSM) driving behavior decision model. According to the motion planning method, based on a B spline curve interpolation method, a B spline curve control point and a corresponding target curve are determined according to constraint conditions such as a lane driving-in and driving-out principle, roundabout shape parameters, vehicle steering actuator limitation, smoothness, comfort and planning speed loss in a target ring planned by a global path; the technical problem that the ring entering and exiting tracks of the automatic driving vehicle are not smooth enough and not flexible enough is solved, the track planning quality is effectively improved, and good driving smoothness and comfort are achieved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to an automatic driving behavior decision-making system and a motion planning method in a roundabout scene. Background technique [0002] With the continuous development of autonomous driving technology and the automation capabilities of intelligent transportation systems, the applicable scenarios have expanded from relatively simple road conditions such as expressways and parking to relatively complex urban intersection scenarios. As a special form of traffic node, roundabout has the characteristics of self-organized traffic flow. It has outstanding advantages in reducing traffic conflict points, traffic accident rate, intersection delay time, air pollutant emissions, and improving road network traffic efficiency and fuel utilization. Therefore, it is widely used all over the world, especially in Europe, America and other countries. [0003] At the same time, with the c...

AI Technical Summary

Problems solved by technology

[0003] At the same time, with the continuous increase of car ownership, under the traditional traffic environment, the maximum capacity of the roundabout is limited and cannot adapt to the large traffic flow. The principle of priority driving (abbreviated as "priority in the ring" principle), it is easy to cause the phenomenon of "deadlock" in the ring, and then cause traffic jams and traffic accidents

Images