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A distributed multi-vehicle cooperative behavior decision-making method and system

A decision-making method and distributed technology, applied in traffic control systems, anti-collision systems, traffic control systems, etc. of road vehicles, can solve problems such as multi-vehicle collision risk coordination efficiency, local motion conflicts, reduction, etc., to achieve real-time performance and The effect of increased flexibility, high real-time and flexibility

Active Publication Date: 2022-05-17
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Claims
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Problems solved by technology

However, when multiple unmanned vehicles perform cooperative tasks, it is easy to generate local motion conflicts, resulting in the risk of collision between multiple vehicles and the reduction of coordination efficiency.

Method used

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  • A distributed multi-vehicle cooperative behavior decision-making method and system
  • A distributed multi-vehicle cooperative behavior decision-making method and system
  • A distributed multi-vehicle cooperative behavior decision-making method and system

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Embodiment Construction

[0071] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0072] The purpose of the present invention is to provide a distributed multi-vehicle cooperative behavior decision-making method and system, which can improve the real-time and flexibility of distributed multi-vehicle cooperative planning.

[0073] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings...

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Abstract

The invention relates to a distributed multi-vehicle cooperative behavior decision-making method and system. The present invention is based on the consensus motion track information, judges the conflict form between a vehicle and other vehicles in the current scene according to the motion track, can not rely on road guidance information, and has good performance on various unstructured roads; and, the present invention is based on The vehicle conflict set is generated by the conflict form, and the vehicle conflict relationship directed graph is constructed according to the vehicle virtual traffic arrangement table and the vehicle conflict set. Cooperative control has higher real-time and flexibility; finally, the present invention generates a cooperative behavior decision-making strategy based on the multi-vehicle behavior conflict-free geometric topology tree according to the vehicle conflict set, and realizes a decentralized multi-vehicle cooperative behavior decision-making solution, making The real-time and flexibility of cooperative control are further improved.

Description

technical field [0001] The invention relates to the technical field of vehicle cooperative control, in particular to a distributed multi-vehicle cooperative behavior decision-making method and system. Background technique [0002] Compared with a single unmanned vehicle, the multi-vehicle cooperative system has greater advantages in performing various complex tasks, such as multi-vehicle cooperative reconnaissance, large-area environmental exploration, and collaborative operations. Discrete distribution, working in different work areas at the same time is conducive to achieving better overall performance; and since each unmanned vehicle is an independent intelligent body unit, each platform can be equipped with different sensors and actuators to achieve different functions, and through The communication function and collaborative decision-making and planning control algorithms are coordinated with each other to improve the working efficiency of the system; when a certain pla...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/16
CPCG08G1/166G08G1/161Y02T10/84
Inventor 席军强冯时龚小杰龚建伟
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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