The invention belongs to the technical field of automobiles, and provides an automatic driving vehicle lane changing decision-making method and system and an automatic driving vehicle. According to the technical scheme, obtained road environment information is preprocessed; training the constructed spatial-temporal feature extraction network based on the preprocessed road environment information to obtain a trained spatial-temporal feature extraction network; combining the driving environment data sensed in real time and the trained feature extraction network to predict and obtain an environment sensing result and a lane changing decision prediction result; fusing an environment perception result and a lane changing decision prediction result to obtain state representation, and adjusting an optimal lane changing strategy in combination with the state representation and an action value function; and performing path planning based on the adjusted optimal lane changing strategy, and generating a steering wheel angle signal and a vehicle speed control signal for controlling the vehicle according to a path planning result. And a more accurate lane changing decision can be realized.
本发明属于汽车技术领域,提供了一种自动驾驶车辆换道决策方法、系统及自动驾驶车辆,其技术方案为对获取的道路环境信息进行预处理;基于预处理后的道路环境信息对构建的时空特征提取网络进行训练,得到训练后的时空特征提取网络;结合实时感知的驾驶环境数据和训练后的特征提取网络预测得到环境感知结果和换道决策预测结果;将环境感知结果和换道决策预测结果融合得到状态表示,结合状态表示和动作价值函数调整最佳换道策略;基于调整后的最佳换道策略进行路径规划,根据路径规划结果生成控制车辆的方向盘角度信号和车速控制信号。可以实现更精确的换道决策。
Lane changing decision-making method and system for automatic driving vehicle and automatic driving vehicle
一种自动驾驶车辆换道决策方法、系统及自动驾驶车辆
2025-04-11
Patent
Electronic Resource
Chinese
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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