The invention discloses an autonomous vehicle behavior decision-making system based on enhanced perception, which relates to the technical field of autonomous driving and comprises an enhanced perception module and a behavior decision-making module. The enhanced perception module is used for constructing a space-time diagram according to real vehicles and ghost vehicles around the autonomous vehicle, collecting a state environment image data set of the real vehicles around the autonomous vehicle, and constructing the ghost vehicle according to the state environment image data set. The future states of all vehicles in the space-time diagram are predicted in parallel according to the space-time diagram, wherein the ghost vehicle refers to a vehicle which is virtually constructed without a target direction position point around the autonomous vehicle; and the behavior decision module is used for obtaining a lane changing decision and a speed decision based on deep reinforcement learning prediction and a mixed reward method according to the future state. The method is wide in application range, and has stable and high reliability on prediction precision of a future trajectory; and the future states of all target vehicles are predicted in parallel, so that the prediction efficiency is improved.
本发明公开了一种基于增强感知的自动驾驶车行为决策系统,涉及自动驾驶技术领域,包括增强感知模块和行为决策模块;所述增强感知模块用于根据自动驾驶车周围的真实车辆和幽灵车辆构建时空图,采集自动驾驶车周围真实车辆的状态环境图像数据集,根据所述状态环境图像数据集构建所述幽灵车辆,以及根据所述时空图并行预测所述时空图中所有车辆的未来状态,所述幽灵车辆指的是自动驾驶车周围目标方向位置点没有而虚拟构建的车辆;所述行为决策模块用于根据所述未来状态,基于深度强化学习预测和混合奖励方法,得到变道决策及速度决策。本发明的适用广泛,对未来轨迹的预测精度具有稳定的高可靠性;并行预测所有的目标车辆的未来状态提升了预测效率。
Autonomous vehicle behavior decision-making system based on enhanced perception
一种基于增强感知的自动驾驶车行为决策系统
2023-05-30
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |
Autonomous valet parking perception decision-making method and system and vehicle-mounted terminal
Europäisches Patentamt | 2020
|Behavior decision-making and planning method for autonomous vehicle
Europäisches Patentamt | 2023
|