Static path optimization method and device for integrated decision control of self-driving automobile
Static path optimization method and device for integrated decision control of self-driving automobile
- Neue Suche nach: LI SHENGBO
- Neue Suche nach: YANG SEN
- Neue Suche nach: KIM DONG-YOON
- Neue Suche nach: CHENG BO
- Neue Suche nach: ZOU WENJUN
- Neue Suche nach: ZHANG YUHANG
- Neue Suche nach: XU SHAOBING
- Neue Suche nach: WANG JIANQIANG
- Neue Suche nach: XU QING
- Neue Suche nach: LI SHENGBO
- Neue Suche nach: YANG SEN
- Neue Suche nach: KIM DONG-YOON
- Neue Suche nach: CHENG BO
- Neue Suche nach: ZOU WENJUN
- Neue Suche nach: ZHANG YUHANG
- Neue Suche nach: XU SHAOBING
- Neue Suche nach: WANG JIANQIANG
- Neue Suche nach: XU QING
The invention relates to a static path optimization method and device for integrated decision control of an automatic driving vehicle, and the method comprises the steps: calculating a safety index, a compliance index, a patency index, an economic index and a comfort index of each static path based on a static path set; calculating a comprehensive evaluation index of each static path according to the safety index, the compliance index, the patency index, the economic index and the comfort index of each static path and the corresponding priority and weight; and selecting an optimal static path meeting a preset condition from the static path set according to the size and change information of the comprehensive evaluation index of each static path. Therefore, the problems of high function integration level, complex algorithm design, large calculation scale and poor real-time performance due to integration of decision, planning and control in integrated decision control dynamic tracking control in related technologies are solved.
本申请涉及一种自动驾驶汽车集成式决控的静态路径优选方法及装置，其中，方法包括：基于静态路径集合，分别计算每条静态路径的安全性指标、合规性指标、通畅性指标、经济性指标和舒适性指标；根据每条静态路径的安全性指标、合规性指标、通畅性指标、经济性指标和舒适性指标及对应的优先度和权重，计算每条静态路径的综合评价指标；根据每条静态路径的综合评价指标的大小和变化信息从基于静态路径集合中选取满足预设条件的最优静态路径。由此，解决了相关技术中，由于集成式决控动态跟踪控制将决策，规划和控制融合为一体，使得存在功能集成度高、算法设计复杂、计算规模大和实时性差的问题。
Dokumentinformationen
Static path optimization method and device for integrated decision control of self-driving automobile
一种自动驾驶汽车集成式决控的静态路径优选方法及装置
2023-08-08
Patent
Elektronische Ressource
Chinesisch
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