Unmanned vehicle autonomous behavior planning method, device and equipment based on parallel behavior tree

Abstract

The application relates to an unmanned vehicle autonomous behavior planning method, device and equipment based on a parallel behavior tree. The method comprises the following steps: constructing a behavior tree control module of an unmanned vehicle according to dynamic environment data; the behavior tree control module comprises a composite control module and a sequential control module; controlling the sequential control module of the unmanned vehicle according to the composite control module to plan a behavior; the planned behavior comprises a lane-changing behavior and a speed-changing behavior; the lane-changing behavior sequentially judges the execution result of each sub-node of a sequential node in the sequential control module according to a preset planning logic to complete the lane-changing behavior control of the unmanned vehicle; the speed-changing behavior sequentially judges the execution result of a sequential node embedded under each sub-node of a selection node in the sequential control module according to a preset planning logic to complete the speed-changing behavior control of the unmanned vehicle; and the behavior of the unmanned vehicle is autonomously planned according to the lane-changing behavior control and the speed-changing behavior control. The method can effectively improve the driving efficiency and the stability of lane-changing of the unmanned vehicle.

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