The invention discloses an open interference scene-oriented forward anti-collision driving decision-making method for a commercial vehicle. The method comprises the following steps: firstly, extracting safe driving behaviors of a human driver, and constructing and forming a'human-like 'driving behavior database for forward anti-collision driving decision learning; secondly, learning a forward anti-collision driving strategy from a'human-like 'driving behavior database by using a behavior cloning algorithm; and finally, continuously learning the driving strategy by using a generative adversarial imitation learning algorithm to obtain a forward anti-collision driving strategy with a high human-like level. According to the method provided by the invention, the safe driving behavior of a human driver can be simulated, the influence of visual blind areas, sudden obstacles, different driving working conditions and other factors on the forward anti-collision decision is considered, advanced decision strategies such as acceleration, deceleration and steering are output, and the forward anti-collision driving decision of the commercial vehicle in an open interference scene is realized.
本发明公开了一种面向开放干扰场景的营运车辆前向防撞驾驶决策方法。首先,提取人类驾驶员的安全驾驶行为,构建形成用于前向防撞驾驶决策学习的“类人”驾驶行为数据库。其次,利用行为克隆算法从“类人”驾驶行为数据库中学习前向防撞驾驶策略。最后,利用生成对抗模仿学习算法继续学习驾驶策略,得到具有高度类人水平的前向防撞驾驶策略。本发明提出的方法,能够模拟人类驾驶员的安全驾驶行为,且考虑了视觉盲区、突遇障碍物、不同行驶工况等因素对前向防撞决策的影响,输出加速、减速、转向等高级决策策略,实现了开放干扰场景下的营运车辆前向防撞驾驶决策。
Operating vehicle forward anti-collision driving decision-making method facing open interference scene
一种面向开放干扰场景的营运车辆前向防撞驾驶决策方法
2022-11-01
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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