The invention discloses an intelligent driving decision-making method, decision-making device and vehicle, which can be applied to the field of intelligent driving, and comprises the following steps: identifying an object (namely a game object) with uncertain intention and n road topologies owned by the object, determining the intention probability (n in total) of the game object running along each road topology, constructing a sampling game space comprising m game strategies, and calculating the strategy cost (n groups in total) of the m game strategies in each road topology, determining n target strategy costs meeting a preset condition, and determining a self-vehicle decision result according to the target game strategy (one of the m). Under the condition that the intention of the object is uncertain, the intent probability of the object with the uncertain intention is reasoned by using the observed information, and the uncertainty interactive game decision is performed based on the intent probability so as to solve the optimal action of the own vehicle, so that the own vehicle can reasonably respond to the jump of the intention of the dynamic object, unreasonable snub braking and wrong robbing are reduced, and the driving safety is improved. And the riding comfort, safety and trafficability of the vehicle are improved.
本申请公开了一种智能驾驶决策方法、决策装置以及车辆,可应用智能驾驶领域,包括:识别意图不确定物体(即博弈对象)及其拥有的n条道路拓扑,并确定博弈对象沿每条道路拓扑行驶的意图概率(共n个),构建包括m个博弈策略的采样博弈空间,计算m个博弈策略在每条道路拓扑的策略代价(共n组),确定满足预设条件的n个目标策略代价,并根据目标博弈策略(m个中的一个)确定自车决策结果。本申请在物体意图不确定的情况下,利用观测到的信息推理意图不明确物体的意图概率,基于此进行不确定性交互博弈决策,以求解出自车最佳动作,使得自车可以合理响应动态物体意图的跳变,减少不合理的点刹和误抢行,提高自车的乘车舒适性、安全性和通过性。
Intelligent driving decision-making method, decision-making device and vehicle
一种智能驾驶决策方法、决策装置以及车辆
2022-12-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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