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Automatic driving decision-making method and system

A technology for automatic driving and decision-making systems, applied in control/regulation systems, motor vehicles, non-electric variable control, etc., can solve problems such as the inability to adopt decision-making models, unpredictable behavior of traffic participants, complex and changeable driving scenarios, etc., to achieve The effect of improving development efficiency

Inactive Publication Date: 2019-12-13
西藏宁算科技集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the urban environment, due to the complex and changeable driving scenarios, the behavior of traffic participants is difficult to predict, and a standard and unified decision-making model cannot be used to describe

Method used

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  • Automatic driving decision-making method and system
  • Automatic driving decision-making method and system

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Experimental program
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Embodiment 1

[0033] refer to Figure 1~2 As an illustration, this embodiment proposes an automatic driving decision-making system. As a complex system combining software and hardware, the safe and reliable operation of an unmanned vehicle requires the cooperation of multiple modules such as on-board hardware, sensor integration, perception prediction, and control planning. . Specifically, the decision-making system includes,

[0034] The perception module 100, the perception module 100 can collect the object information of the surrounding environment of the vehicle and the state information of the vehicle itself; the environment state of the perception module 100 includes the environment information collected by laser radar, millimeter wave radar, ultrasonic radar and visual sensor. The status information of the vehicle itself includes information collected by positioning / inertial navigation and wheel speed sensors.

[0035] The prediction module 200, the prediction module 200 is connect...

Embodiment 2

[0041] refer to image 3 Based on the above-mentioned system, this embodiment proposes an automatic driving decision-making method, which can be applied to the above-mentioned system, so that each module can perform its own duties and focus on solving the problems at this level, thus improving the development of the entire complex software system efficiency. Specifically, the following steps are included,

[0042] The perception module 100 collects object information in the surrounding environment of the vehicle;

[0043] Object information is input into the calculation of the prediction module 200 to generate a predicted trajectory;

[0044] Decision-making module 300 receives trajectory points for predicting trajectory output decisions;

[0045] The feedback control module 400 digests the track points, and controls the vehicle to execute the track points.

[0046] Among them, a series of control input increments in the control time domain are obtained in each control cyc...

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Abstract

The invention discloses an automatic driving decision-making method and system. The system includes a sensing module, wherein the sensing module can acquire object information of a surrounding environment of a vehicle and state information of the vehicle itself; a prediction module, wherein the prediction module is connected to the sensing module and is able to receive sensed information and perform information fusion and computation to generate a predicted trajectory; a decision-making module, connected to the prediction module and being able to receive trajectory points of an output decisionof the predicted trajectory; and a control module, connected to the decision-making module of an upper layer, digesting the trajectory points and controlling the vehicle to execute the trajectory points. The system has the following beneficial effect: by dividing the modules, the system effectively and reasonably splits such a complicated problem as decision making, control and planning of an unmanned vehicle from the abstract to the concrete according to computational logics; and such division allows each module to focus on solving its own level of problems, thus the development efficiency of the entire complex software system is improved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to an automatic driving decision-making method and a system thereof. Background technique [0002] In recent years, for unmanned vehicles, unmanned vehicles are intelligent vehicles that perceive the road environment through the on-board sensor system, automatically plan the driving route and control the vehicle to reach the predetermined target. According to the road, vehicle position and obstacle information obtained by perception, the steering and speed of the vehicle are controlled, so that the vehicle can drive safely and reliably on the road, mainly relying on the intelligent driver in the vehicle, mainly based on the computer system. purpose of unmanned driving. [0003] As a complex system combining software and hardware, the safe and reliable operation of unmanned vehicles requires the cooperation of multiple modules such as on-board hardware, sensor inte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 嵇伟伟
Owner 西藏宁算科技集团有限公司
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