Intelligent driving multi-step time behavior decision-making method and device combined with spatio-temporal information

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Intelligent driving multi-step time behavior decision-making method and device combined with spatio-temporal information

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HUA WEI / HU YANMING / FENG GAOCHAO / SHEN ZHENG / XIANG JIAQI / YANG ZHAO

The invention discloses an intelligent driving multi-step time behavior decision-making method and device combined with spatio-temporal information, and the method comprises the steps: firstly, generating a driving state set according to road structure information and traffic participant information, taking each driving state as a node, generating directed edges between the nodes based on the driving states of adjacent lanes, and constructing a driving state transition diagram; then, on the basis of the driving state transition diagram and the space-time information of the traffic participants, through a first-in first-out queue and an explored driving state list, constructing a self-vehicle space-time trajectory tree; and finally, extracting candidate spatial-temporal trajectories from the spatial-temporal trajectory tree, scoring all the candidate spatial-temporal trajectories, and finally selecting the spatial-temporal trajectory with the highest score as a decision result. According to the invention, the intelligent driving platform can carry out multi-step and long-time spatio-temporal joint decision in a dynamic traffic environment, and the intelligent driving platform is guided to obtain more reasonable driving behaviors.

本发明公开了联合时空信息的智能驾驶多步长时行为决策方法及装置，首先，根据道路结构信息与交通参与者信息，生成驾驶状态集合，将各驾驶状态作为节点，基于相邻车道的驾驶状态，生成节点间的有向边，构建驾驶状态转移图；然后，基于驾驶状态转移图与交通参与者的时空信息，通过先入先出队列和已探索驾驶状态列表，构建自车时空轨迹树；最后，在时空轨迹树中提取候选时空轨迹，并对所有候选时空轨迹进行评分，最终选择评分最高的时空轨迹作为决策结果。本发明能够使智能驾驶平台在动态交通环境中进行多步、长时的时空联合决策，指导智能驾驶平台获得更加合理的驾驶行为。

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Title :

Intelligent driving multi-step time behavior decision-making method and device combined with spatio-temporal information

Additional title:

联合时空信息的智能驾驶多步长时行为决策方法及装置

Contributors:

HUA WEI (author) / HU YANMING (author) / FENG GAOCHAO (author) / SHEN ZHENG (author) / XIANG JIAQI (author) / YANG ZHAO (author)

Publication date :

2023-04-21

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen