{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "Disclosed is a decision-making and planning integrated method for a nonconservative intelligent vehicle in a complex heterogeneous environment, including the following steps: offline establishing and training a social interaction knowledge learning model; obtaining state data of the traffic…",
  "path": "/patents/1370086",
  "publishedAt": "2024-10-10T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/00274",
    "TONGJI UNIVERSITY"
  ],
  "textContent": "Disclosed is a decision-making and planning integrated method for a nonconservative intelligent vehicle in a complex heterogeneous environment, including the following steps: offline establishing and training a social interaction knowledge learning model; obtaining state data of the traffic participants and state data of an intelligent vehicle online in real time, and splicing the state data to obtain an environmental state; using the environmental state as an input to the trained social interaction knowledge learning model to obtain predicted trajectories of all traffic participants including the nonconservative intelligent vehicle; updating the environmental state based on the predicted trajectories; and inputting the updated environmental state to the social interaction knowledge learning model to complete trajectory decision-making and planning for the nonconservative intelligent vehicle by iteration, where a planned trajectory of the nonconservative intelligent vehicle is a splicing result of a first point of a predicted trajectory obtained by each iteration.",
  "title": "DECISION-MAKING AND PLANNING INTEGRATED METHOD FOR NONCONSERVATIVE INTELLIGENT VEHICLE"
}