Continuous reference line decision-making method and device, vehicle and storage medium

A decision-making method and technology of reference lines, applied in continuous reference line decision-making methods, continuous reference line decision-making devices, vehicles and storage media, can solve problems such as difficult to safely and reasonably select target reference lines, and improve debuggability and scalability Unique, convenient and flexible adjustment, clear and intuitive decision-making process
CN114802298APending Publication Date: 2022-07-29BEIJING ZHIXINGZHE TECH CO LTD
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING ZHIXINGZHE TECH CO LTD
Publication Date
2022-07-29

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Abstract

The invention discloses a continuous reference line decision-making method and device, and the method comprises the steps: determining the semantic information of a reference line, and enabling the determined semantic information to comprise a first semantic information group for intention decision-making and a second semantic information group for direction decision-making; determining a reference line switching intention according to the first semantic information group; selecting an optimal reference line according to the reference line switching intention and the second semantic information group of each reference line; and determining a target reference line according to the selected optimal reference line. According to the scheme, the reference line decision is performed by adopting the semantic information determined for the reference line, so that the reasonability and reliability of the decision result can be ensured; and part of semantic information is used for decision analysis in each stage of decision making, so that the decision making process is clear, visual and interpretable, evaluation parameters, namely the semantic information, of decision analysis can be flexibly adjusted according to requirements, and the debuggeability and expandability of reference line cost evaluation are improved.
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Description

technical field

[0001] The present invention relates to the technical field of automatic driving, and in particular, to a continuous reference line decision-making method, a continuous reference line decision-making device, a vehicle and a storage medium. Background technique

[0002] With the development of artificial intelligence, autonomous or semi-autonomous driving technology of vehicles has gradually been widely used. In the field of vehicle autonomous driving, the reference line is an important reference and basis for the path planning of the autonomous vehicle. Among them, in the field of autonomous driving, the reference line usually refers to the center line of the lane or road.

[0003] In actual scenarios, due to the complexity of structured roads, autonomous vehicles often need to adjust the current driving lane according to the driving task and the surrounding environment in real time during driving. Therefore, in the path planning process of autonomous vehicl...

Claims

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