The embodiment of the invention discloses a vehicle transverse behavior decision-making method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a position sampling digraph of a current vehicle, constructing a behavior sequence dictionary of sampling points for each sampling point in the digraph according to the transverse behavior of a track segment connected between the sampling point and a next-layer sampling point, and obtaining a behavior sequence dictionary of the sampling points; according to the method, the problem that in the prior art, due to small fluctuation of perceptual information, a decision result does not conform to the habits of human drivers is solved, and the accuracy of the decision result is improved. The purposes of stabilizing the vehicle behavior and improving the behavior consistency are achieved, the consumed computing power is greatly reduced, and the track query efficiency is improved.
本公开实施例公开了一种车辆横向行为决策方法、装置、电子设备和存储介质,该方法通过获取当前车辆的位置采样有向图,针对其中的每一个采样点,根据其与下一层采样点之间连接的轨迹段的横向行为,构建采样点的行为序列字典,进而获取待搜索行为序列,根据各个采样点的行为序列字典,在位置采样有向图中查找出符合待搜索行为序列的当前目标轨迹,该方法解决现有技术中由于感知信息少量波动导致决策结果不符合人类驾驶员习惯的问题,达到稳定车辆行为、提高行为一致性的目的,并且,极大降低消耗算力,提高轨迹查询效率。
Vehicle transverse behavior decision-making method and device, electronic equipment and storage medium
车辆横向行为决策方法、装置、电子设备和存储介质
2024-01-09
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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