The invention relates to an automatic driving multi-task coordination decision-making method based on hierarchical rolling optimization, and the method comprises the steps: enabling the environment state information of an automatic driving vehicle to serve as the input of a reinforcement learning decision-making framework, and planning a driving target into the connection of a plurality of driving tasks, so as to achieve the coordination of multiple tasks; all the driving tasks are materialized as control actions, but only the control action of the first driving task is executed; then rolling forwards to enter the next time step, and performing planning and control actions again based on the updated environment state information of the automatic driving vehicle; and repeatedly planning so as to realize rolling optimization decision making. The method can coordinate multiple driving tasks, and is suitable for automatic driving long-term decision making in a complex driving scene.
本发明涉及一种基于分层滚动优化的自动驾驶多任务协调决策方法,利用自动驾驶车辆环境状态信息作为强化学习决策框架的输入,将驾驶目标规划为多个驾驶任务的衔接,以实现多任务间的协调;将各个驾驶任务分别具体化为控制动作,但仅执行第一个驾驶任务的控制动作;然后滚动向前进入下一时间步,基于更新的自动驾驶车辆环境状态信息再次进行规划和控制动作的执行;如此反复进行规划,实现滚动优化决策。该方法能够进行多驾驶任务协调,适用于复杂驾驶场景中的自动驾驶长期决策。
Automatic driving multi-task coordination decision-making method based on hierarchical rolling optimization
一种基于分层滚动优化的自动驾驶多任务协调决策方法
08.08.2023
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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