	US 12,077,182 B2
	Longitudinal and lateral integrated moving horizon decision making method and apparatus for autonomous vehicle in snowy and icy environment based on trajectory prediction
Hongyan Guo, Jilin (CN); Qikun Dai, Jilin (CN); Jun Liu, Jilin (CN); and Fang Xu, Jilin (CN)
Assigned to Jilin University, Jilin (CN)
Filed by Jilin University, Jilin (CN)
Filed on Dec. 17, 2021, as Appl. No. 17/553,907.
Claims priority of application No. 202110345664.1 (CN), filed on Mar. 31, 2021.
Prior Publication US 2022/0324482 A1, Oct. 13, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 40/02 (2006.01); B60W 40/105 (2012.01); G06V 20/58 (2022.01)

CPC B60W 60/0011 (2020.02) [B60W 30/095 (2013.01); B60W 30/143 (2013.01); B60W 30/18163 (2013.01); B60W 40/02 (2013.01); B60W 40/105 (2013.01); G06V 20/58 (2022.01); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2555/20 (2020.02)]

10 Claims

1. A longitudinal and lateral integrated moving horizon decision making method for an autonomous vehicle in a snowy and icy environment based on trajectory prediction, comprising:

screening out at least one obstacle;

planning a lane-changing trajectory according to the at least one obstacle;

establishing a decision making model according to the lane-changing trajectory; and

controlling the autonomous vehicle by designing a longitudinal and lateral integrated moving horizon decision making controller according to the decision making model;

wherein establishing the decision making model according to the lane-changing trajectory comprises:

determining the decision making model by taking a lane position 1 of the autonomous vehicle and a longitudinal displacement s of the autonomous vehicle as a system state and a system output and by taking a lane-changing time T, a longitudinal velocity v_x, and a lane ID lc of a selected lane as input, and wherein the decision making model satisfies that:

x=A_cx+B_c,

y=C_cx

wherein

and

y denotes the system output.