Title:
DECISION-MAKING METHOD AND APPARATUS AND VEHICLE
Document Type and Number:
WIPO Patent Application WO/2022/227827
Kind Code:
A1
Abstract:
A decision-making method, comprising: acquiring predicted motion trajectories of a self-driving vehicle and each obstacle around the self-driving vehicle; determining a game object as an obstacle that intersects with a predicted motion trajectory of the self-driving vehicle or the distance of which to the self-driving is less than a set threshold from each obstacle around the self-driving vehicle; constructing a sampling game space for each game object according to the vehicle information of the self-driving vehicle, the obstacle information of the game object and the road condition information collected by a sensor system, wherein each sampling game space comprises at least one game policy; calculating the policy cost of each game policy, wherein the policy cost is a value obtained by weighting each factor weight of the policy cost; determining a decision-making result of the self-driving vehicle, wherein the decision-making result is the game policy having the minimum policy cost in the common sampling game space, the common sampling game space comprises at least one game policy, and each sampling game space comprises a game policy in the common sampling game space. Further disclosed are a decision-making apparatus, a vehicle, an intelligent driving system, a computer readable storage medium, a computing device, and a computer program product.
Inventors:
CHENG SIYUAN (CN)
HAO DONGHAO (CN)
YANG SHAOYU (CN)
WANG XINYU (CN)
HAO DONGHAO (CN)
YANG SHAOYU (CN)
WANG XINYU (CN)
Application Number:
PCT/CN2022/077480
Publication Date:
November 03, 2022
Filing Date:
February 23, 2022
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
B60W60/00
Foreign References:
| CN112373485A | 2021-02-19 | |||
| CN112896186A | 2021-06-04 | |||
| CN111775961A | 2020-10-16 | |||
| CN112373470A | 2021-02-19 | |||
| CN111038497A | 2020-04-21 | |||
| CN202110454337A | 2021-04-26 |
Attorney, Agent or Firm:
E-TONE INTELLECTUAL PROPERTY FIRM (GENERAL PARTNERSHIP) (CN)
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