The invention relates to a distributed multi-vehicle cooperative behavior decision-making method and system. According to the invention, based on the consensus motion trail information, the conflict form between one vehicle and other vehicles in the current scene is judged according to the motion trail, and the method has good performance under various unstructured roads without depending on road guidance information; moreover, a vehicle conflict set is generated according to a conflict form, a vehicle conflict relation digraph is constructed according to the vehicle virtual passage arrangement table and the vehicle conflict set, and a multi-vehicle behavior conflict-free geometric topology tree is generated by using a depth-first search algorithm based on the vehicle conflict relation digraph. The vehicle cooperative control has higher real-time performance and flexibility; finally, a cooperative behavior decision strategy is generated according to the vehicle conflict set based on the multi-vehicle behavior conflict-free geometric topology tree, a decentralized multi-vehicle cooperative behavior decision solution is realized, and the real-time performance and flexibility of cooperative control are further improved.

    本发明涉及一种分布式多车协同行为决策方法和系统。本发明基于共识运动轨迹信息,根据运动轨迹判断当前场景中一车辆与其他车辆间的冲突形式,能够不依靠道路指引信息,在各类非结构化道路下具有良好的表现;并且,本发明根据冲突形式生成车辆冲突集,根据车辆虚拟通行排列表和车辆冲突集构建车辆冲突关系有向图,基于车辆冲突关系有向图,利用深度优先搜索算法生成多车行为无冲突几何拓扑树,使得车辆协同控制具有更高的实时性和灵活性;最后,本发明基于多车行为无冲突几何拓扑树根据车辆冲突集生成协同行为决策策略,实现了去中心化的多车协同行为决策解决方案,使得协同控制的实时性和灵活性得到进一步提高。


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    Title :

    Distributed multi-vehicle cooperative behavior decision-making method and system


    Additional title:

    一种分布式多车协同行为决策方法和系统


    Contributors:
    XI JUNQIANG (author) / FENG SHI (author) / GONG XIAOJIE (author) / GONG JIANWEI (author)

    Publication date :

    2022-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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