The invention relates to an automatic driving motion planning method and device under a multi-blind-area intersection, and a medium. The method comprises the following steps: S1, determining a view blind area of an unmanned vehicle according to a road topological structure and an obstacle position; s2, according to the observable motion situation of other vehicles, the probability that vehicles exist in the view blind area is calculated based on the D-S evidence theory; s3, according to the inference probability and the shielding relation, a blind area vehicle closest to the driving route of the vehicle is generated on the center line of each interested lane; and S4, inputting the observation vehicle and the speculated blind area vehicle into a pre-trained deep reinforcement learning network based on an attention mechanism to obtain an automatic driving motion planning result under the multi-blind area intersection. Compared with the prior art, the safety and efficiency of motion planning of the unmanned vehicle at the complex multi-blind-area intersection are improved.

    本发明涉及一种多盲区交叉路口下的自动驾驶运动规划方法、设备及介质,该方法包括以下步骤:S1、根据道路拓扑结构和障碍物位置确定无人驾驶车辆的视野盲区;S2、根据可观测他车的运动态势,基于D‑S证据理论计算视野盲区内存在车辆的概率;S3、根据推断概率和遮挡关系,在各个感兴趣车道中心线生成距离自车驾驶路线最近的盲区车辆;S4、将观测车辆和推测盲区车辆输入至预训练的基于注意力机制的深度强化学习网络,得到多盲区交叉路口下的自动驾驶运动规划结果。与现有技术相比,本发明提升无人驾驶车辆在复杂多盲区交叉路口运动规划的安全性和效率。


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    Title :

    Automatic driving motion planning method and device under multi-blind-area intersection and medium


    Additional title:

    多盲区交叉路口下的自动驾驶运动规划方法、设备及介质


    Contributors:
    WANG JUN (author) / ZHANG CHAOJIE (author) / ZHU YANTING (author)

    Publication date :

    2024-09-03


    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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