The invention discloses a wrong-way meeting decision-making planning method based on game planning. The method comprises the following steps: outputting a current frame state based on perception information; updating the current self-vehicle state based on the current frame state and the self-vehicle state at the previous moment, judging whether the self-vehicle needs to enter a misplaced vehicle meeting state or not, and updating interaction obstacle information stored in the self-vehicle; judging whether the self-vehicle needs to be replanned or not, and executing the following steps according to a judgment result: if the judgment result is yes, planning an optimal coarse track of the self-vehicle through an interactive game, and then selecting a differential planarization device to access the optimal coarse track of the self-vehicle for back-end refinement; and if the judgment result is no, a differential planarization device is directly selected to be connected to the optimal self-turning coarse track for back-end refinement. The method has the beneficial effects that the self-vehicle sweeping effect and the road passing efficiency can be improved under the narrow road limit condition, and the overall optimality of the driving tracks of the self-vehicle and other vehicles in the current scene can be fully guaranteed.

    本发明公开了一种基于博弈规划的错让会车决策规划方法,包括如下步骤:基于感知信息输出当前帧状态;基于当前帧状态以及上一时刻的自车状态更新当前自车状态,判断自车是否需要进入错位会车状态,并更新自车内部存储的交互障碍物信息;判断自车当前是否需要重规划,并根据判断结果执行如下步骤:若判断结果为是,则通过交互博弈规划自车最优粗轨迹后选择微分平坦化器接入最优自车粗轨迹进行后端精细化;若判断结果为否,则直接选择微分平坦化器接入最优自车粗轨迹进行后端精细化。本发明的有益效果是:能在窄路极限情况下提高自车清扫效果和道路通行效率,可以充分保证当前场景下自车和它车行驶轨迹的整体最优性。


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    Title :

    Mistaken car meeting decision-making planning method based on game planning


    Additional title:

    一种基于博弈规划的错让会车决策规划方法


    Contributors:
    ZHENG RENJIE (author) / HUANG JIHAO (author) / WANG JINGKE (author) / XIA ZETAO (author) / YE TENGJU (author) / CHEN JUNBO (author)

    Publication date :

    2025-02-18


    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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