The invention discloses a ramp cooperative control system and method based on a driving style. The system comprises a vehicle-mounted control subsystem, an inter-vehicle communication subsystem and a cooperative decision-making subsystem based on the driving style. According to the method, states and reaction decisions of competitive vehicles in the lane merging process are fully considered, a ramp collaborative merging interaction decision model is established, and a multi-vehicle deep reinforcement learning framework is designed; in order to consider the influence of the random driving style on the decision process, an optimal merging strategy is defined based on Bayesian Nash equilibrium, an experience pool is established through interactive learning with the environment, and the optimal merging strategy is trained and learned. According to the method, driving performance weights such as safety and high efficiency can be adjusted based on the driving style, so that personalized driving is realized, and the acceptability of an automatic driving vehicle is improved; by interactively learning a decision strategy with the environment, the adaptability of a decision algorithm to a dynamic scene is improved.

    本发明公开了一种基于驾驶风格的匝道协同控制系统及方法,包括:车载控制子系统、车间通信子系统及基于驾驶风格的协同决策子系统;本发明充分考虑并道过程中竞争车辆的状态和反应决策,建立匝道协同合并交互决策模型,设计多车深度强化学习的框架;为考虑随机驾驶风格对决策过程的影响,基于贝叶斯纳什均衡定义最优合并策略,并通过与环境的交互学习建立经验池,训练学习最优合并策略。本发明方法能基于驾驶风格调整安全性与高效性等驾驶性能权重,以实现个性化驾驶,提高自动驾驶车辆的可接受度;通过与环境交互学习决策策略,以提高决策算法对动态场景的适应性。


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    Titel :

    Ramp cooperative control system and method based on driving style


    Weitere Titelangaben:

    一种基于驾驶风格的匝道协同控制系统及方法


    Beteiligte:
    LI LIN (Autor:in) / ZHAO WANZHONG (Autor:in) / WANG CHUNYAN (Autor:in) / CHEN QINGYUN (Autor:in) / LIU JINQIANG (Autor:in)

    Erscheinungsdatum :

    2022-07-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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