The invention relates to the technical field of automatic driving information processing, and particularly discloses an automatic driving decision-making method and system for an uncertain scene. An automatic driving decision-making method for an uncertain scene comprises the following steps: constructing a classification prediction model used for receiving a data set, performing classification prediction on intentions and track modes of other vehicles, and outputting a classification prediction result; a probability calibration model is constructed and used for mapping and calibrating the classification prediction result output by the classification prediction model and the lane changing probability of the other vehicle and outputting the prior information of the lane changing probability of the other vehicle; a reasoning prediction model is constructed, other vehicle intention prediction is performed according to the other vehicle lane changing probability prior information and the other vehicle real-time behavior information, and the other vehicle real-time intention probability is obtained; constructing a probability tracking and correction model for correcting the real-time intention probability of the other vehicle; and a decision output model is constructed and is used for carrying out self-vehicle behavior decision according to the corrected other-vehicle real-time intention probability.

    本发明涉及自动驾驶信息处理技术领域,具体公开了一种用于不确定性场景的自动驾驶决策方法及系统。一种用于不确定性场景的自动驾驶决策方法,包括:构建分类预测模型,用于接收数据集,对他车意图和轨迹模态进行分类预测,并输出分类预测结果;构建概率标定模型,用于将所述分类预测模型输出的分类预测结果与他车变道概率进行映射并标定,输出他车变道概率先验信息;构建推理预测模型,根据所述他车变道概率先验信息和他车实时行为信息进行他车意图预测,得到他车实时意图概率;构建概率跟踪与修正模型,用于对所述他车实时意图概率进行修正;构建决策输出模型,用于根据修正后的所述他车实时意图概率进行自车行为决策。


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    Title :

    Automatic driving decision-making method and system for uncertain scene


    Additional title:

    一种用于不确定性场景的自动驾驶决策方法及系统


    Contributors:
    NI KUN (author) / YANG FAN (author) / GUO RUI (author)

    Publication date :

    2025-04-18


    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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