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Lane change decision-making method and device for autonomous vehicle

A technology of automatic driving and decision-making methods, applied in the direction of motor vehicles, vehicle position/route/height control, transportation and packaging

Active Publication Date: 2018-11-30
CHINA NORTH VEHICLE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the lane-changing decision-making problem of autonomous driving vehicles in complex environments, compared with the previous research on decision-making methods based on rules and statistics, the present invention proposes a method and device for lane-changing decision-making of autonomous vehicles

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  • Lane change decision-making method and device for autonomous vehicle

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Embodiment 1

[0075] The embodiment of the present invention proposes a lane-changing decision-making method for an automatic driving vehicle, the flow chart of which is as follows figure 1 shown, including the following steps:

[0076] Define the candidate strategy set for lane-changing decisions of autonomous vehicles;

[0077] Utilize the evaluation function to determine the reward value of each strategy in the set of candidate strategies for lane-changing decisions of the self-driving car, and select the strategy with the largest reward value as the lane-changing decision;

[0078] Wherein, the evaluation function is constructed according to the movement state of the self-driving car at each prediction moment and the movement state of other cars in the traffic scene at each prediction moment in the prediction period corresponding to the centralized strategy of the autonomous vehicle lane-changing decision candidate strategy.

[0079] The described definition self-driving car lane-chang...

Embodiment 2

[0158] The embodiment of the present invention also proposes an automatic driving vehicle lane change decision-making device, including:

[0159] A definition module is used to define a candidate strategy set for lane-changing decisions of autonomous vehicles;

[0160] Decision-making module, for using evaluation function to determine the reward value of each strategy in the set of candidate strategies for lane-changing decisions of the self-driving car, and select the strategy with the largest reward value as the lane-changing decision;

[0161] Wherein, the evaluation function is constructed according to the movement state of the self-driving car at each prediction moment and the movement state of other cars in the traffic scene at each prediction moment in the prediction period corresponding to the centralized strategy of the autonomous vehicle lane-changing decision candidate strategy.

[0162] Specifically, the definition module defines a candidate strategy set for lane-c...

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Abstract

The invention provides a lane change decision-making method and device for an autonomous vehicle. The method includes the following steps: defining a candidate strategy set for a lane change decisionof the autonomous vehicle; and determining a reward value of each strategy in the candidate strategy set for the lane change decision of the autonomous vehicle by using an evaluation function, and selecting the strategy with the maximum reward value as the lane change decision. The technical scheme provided by the invention mainly improves the decision-making ability of the autonomous vehicle, andespecially has a good decision-making effect for complicated automobile driving scenes.

Description

technical field [0001] The invention relates to the field of behavior decision-making of automatic driving vehicles, in particular to a method and device for making lane-changing decisions of automatic driving vehicles. Background technique [0002] In the traffic environment, self-driving cars need to cooperate with other vehicles, understand the driving intentions of other vehicles and show reasonable driving behavior. The lane-changing decision-making ability of autonomous vehicles largely determines the driving performance of autonomous vehicles. [0003] The most commonly used behavioral decision-making method is the rule-based method, which has the advantage of simple application, and various state machine-based systems are used to evaluate the traffic scene and make behavioral decisions within the framework of the system. A typical state machine-based system executes a series of artificially defined decision states to achieve accurate behavioral decisions, and define...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223G05D1/0276Y02T10/40
Inventor 宋威龙汪洋崔星李胜飞杨福威余雪玮
Owner CHINA NORTH VEHICLE RES INST
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