The invention relates to the technical field of automatic driving, and discloses an autonomous vehicle control method based on deep learning, and the method comprises the steps: obtaining a vehicle position image, carrying out the processing of the vehicle position image through an inverse perspective mapping-based aerial view generation algorithm, and generating a vehicle position aerial view; processing the aerial view by using a region growing method, and segmenting a vehicle feasible region and a blind region starting point of a vehicle driving road; generating a track of the vehicle at the current moment by utilizing a vehicle track generation algorithm according to the vehicle feasible region; taking the state, the track and the blind area of the vehicle at the current moment as input, and planning a vehicle path at the next moment by using a vehicle strategy control model based on deep learning to obtain a plurality of candidate paths; and screening the candidate paths according to the safe path screening conditions. The invention further provides an autonomous vehicle control system based on deep learning. Automatic driving of the vehicle is realized.
本发明涉及一种自动驾驶的技术领域,揭露了一种基于深度学习的自主车辆控制方法,包括:获取车辆位置图像,并利用基于逆透视映射的鸟瞰图生成算法对所述车辆位置图像处理,生成车辆位置鸟瞰图;利用区域生长法处理鸟瞰图,分割出车辆可行区域以及车辆行驶道路的盲区起始点;根据车辆可行区域,利用车辆轨迹生成算法生成当前时刻车辆的轨迹;将当前时刻车辆的状态、轨迹以及盲区区域作为输入,利用基于深度学习的车辆策略控制模型进行下一时刻车辆路径的规划,得到若干候选路径;根据安全路径筛选条件对候选路径进行筛选。本发明还提供了一种基于深度学习的自主车辆控制系统。本发明实现了车辆的自动驾驶。
Autonomous vehicle control method and system based on deep learning
一种基于深度学习的自主车辆控制方法及系统
2021-04-30
Patent
Elektronische Ressource
Chinesisch
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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