The invention discloses an automatic driving track planning method for ensuring safety under the condition of uncertain behaviors. The method comprises the following steps: 1) sensing an environment and performing motion prediction; 2) dividing behavior uncertainty of surrounding vehicles; 3) judging whether a potential collision relationship exists or not; 4) establishing a distance vector considering a vehicle shape and longitudinal and transverse components; 5) establishing different risk assessment functions based on whether the vehicle and the target vehicle are in the same lane; and 6) solving a dangerous area and a risk degree change trend in the dangerous area aiming at behavior uncertainty, and planning a safe and reliable driving track for the vehicle through a Monte Carlo tree search algorithm. According to the invention, when the driving environment changes suddenly, the self safety and the driving efficiency can be considered.

    本发明公开了一种行为不确定条件下保证安全的自动驾驶轨迹规划方法,包括如下步骤:1)感知环境并进行运动预测;2)划分周围车辆的行为不确定性;3)判断是否存在潜在的碰撞关系;4)建立考虑车辆形状和纵横向分量的距离向量;5)基于自车与目标车是否在同一车道,建立不同的危险度评估函数;6)针对行为不确定求解出危险区域及危险区域内的危险度变化趋势并通过蒙特卡洛树搜索算法对自车规划出一条安全可靠的行驶轨迹。本发明基于能够在驾驶环境突然变化时,兼顾自身安全和行驶效率。


    Access

    Download


    Export, share and cite



    Title :

    Automatic driving track planning method for ensuring safety under behavior uncertainty condition


    Additional title:

    一种行为不确定条件下保证安全的自动驾驶轨迹规划方法


    Contributors:
    XU CAN (author) / LI BO (author) / CUI TAOWEN (author) / CAO YUXIANG (author) / WANG SHUAIYIN (author)

    Publication date :

    2024-06-07


    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



    Safety automatic driving lane changing track planning method based on improved LSTM neural network

    XIONG MINGQIANG / CHEN TAO / ZHANG QIANG et al. | European Patent Office | 2021

    Free access

    Motion track planning method for automatic driving articulated vehicle

    YANG HAISONG | European Patent Office | 2022

    Free access

    Driver car following behavior under test track and open road driving condition

    Allen,R.W. / Magdaleno,R.E. / Serafin,C. et al. | Automotive engineering | 1997


    Automatic driving track planning method based on tree structure

    LI BAI / YIN ZHUYAN / SUN RENTAO et al. | European Patent Office | 2024

    Free access

    Driver Car Following Behavior Under Test Track and Open Road Driving Condition

    Wade Allen, R. / Magdaleno, R. E. / Serafin, C. et al. | British Library Conference Proceedings | 1997