The invention provides a data-driven decision planning method, which comprises the following steps that: the position, orientation and speed information of a vehicle and the sensing information of other vehicles are obtained in real time, and the sensing information comprises the position, orientation and speed information of other vehicles and road characteristics; acquiring map information, position information and navigation information of the position of the vehicle and trajectory prediction information of other vehicles; according to the perception information, the map information, the position information, the navigation information and other vehicle trajectory prediction information, planning the trajectory of the vehicle through a planning model to obtain a planned trajectory; the planned track is verified; when the planned track passes the verification, enabling the vehicle to run according to the planned track; and when the planned trajectory verification is not passed, planning the trajectory of the vehicle again. According to the invention, the time required for planning the trajectory of the vehicle is shortened, the safety of the vehicle is improved, and accidents caused by abnormal results generated by the planning model are reduced.
本发明提供了一种数据驱动的决策规划方法,包括:实时获取自车的位置、朝向、速度信息以及其他车辆的感知信息,所述感知信息包括:其他车辆位置、朝向、速度信息及道路特征;获取自车所处位置的地图信息、位置信息、导航信息以及其他车辆轨迹预测信息;根据所述感知信息、地图信息、位置信息、导航信息以及其他车辆轨迹预测信息通过规划模型对自车的轨迹进行规划,以得到规划轨迹;对所述规划轨迹进行校验;在所述规划轨迹校验通过时,使所述车辆按照所述规划轨迹行驶;在所述规划轨迹校验未通过时,重新对自车的轨迹进行规划。本发明缩短了自车轨迹规划所需时间,提高了车辆的安全性,减少因规划模型生成的异常结果导致的意外情况。
Decision planning method driven by data and intelligent terminal
数据驱动的决策规划方法及智能终端
2023-11-17
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 |
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