The invention relates to an automatic driving automobile safety motion planning method considering driving behaviors, and belongs to the field of automatic driving. The method comprises the steps that S1, an interactive trajectory prediction model fusing driving behaviors is constructed, and personalized trajectories of different driving behaviors are output based on driving behavior cognition, surrounding vehicle historical states and map information; s2, constructing a safety motion planning model based on a polynomial curve, and planning a candidate track cluster based on different accelerations of human driving and environment information; and S3, constructing a risk assessment model, and selecting an optimal planning trajectory according to the personalized trajectory prediction in the step S1 and the planning result in the step S2. According to the method, the influence of different behaviors of surrounding vehicles on the self-driving automobile is considered in the decision planning process, the self-driving automobile can achieve motion planning with the minimum risk and cost, compared with a traditional planning method, a low-risk and high-efficiency dynamic motion plan can be generated for different driving behaviors, and the safety of the automobile is ensured.

    本发明涉及一种考虑驾驶行为的自动驾驶汽车安全运动规划方法,属于自动驾驶领域。该方法包括:S1:构建融合驾驶行为的交互性轨迹预测模型,基于驾驶行为认知、周车历史状态和地图信息,输出不同驾驶行为的个性化轨迹;S2:构建基于多项式曲线的安全运动规划模型,基于人类驾驶不同加速度和环境信息,规划出候选轨迹簇;S3:构建风险评估模型,根据步骤S1中的个性化轨迹预测和步骤S2的规划结果,选择最优规划轨迹。本发明在决策规划过程中考虑周围车辆不同行为对自车的影响,并让自动驾驶汽车能够以最小的风险和代价实现运动规划,与传统规划方法相比,能够针对不同驾驶行为产生一个低风险高效率的动态运动规划,确保车辆安全。


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    Title :

    Safe motion planning method for autonomous vehicle considering driving behaviors


    Additional title:

    考虑驾驶行为的自动驾驶汽车安全运动规划方法


    Contributors:
    TANG XIAOLIN (author) / CHENG LIANG (author) / YANG KAI (author) / WANG MING (author) / YANG JIANYING (author) / LANG CHENJIA (author)

    Publication date :

    2024-05-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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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