The invention discloses an automatic driving control decision-making method and system based on man-machine cooperation enhancement. The method comprises the following steps: acquiring mixed data; the mixed data comprises driver driving demonstration data, vehicle self-driving data and a supervision correction action for supervising the driver to take over control during vehicle self-driving; based on the supervised correction action, driving simulation data under the current supervised correction action is predicted, and the current supervised correction action is scored to determine the weight of the difference between the driving data after the current supervised correction action takes over control and the vehicle self-driving data when the control decision model is trained; and training the control decision model based on the mixed data, and introducing a corresponding weight when the supervised driver takes over control, thereby obtaining an automatic driving control strategy according to the trained control decision model.
本发明公开一种基于人机协同增强的自动驾驶控制决策方法及系统,包括:获取混合数据;所述混合数据包括驾驶员驾驶演示数据、车辆自行驶数据以及在车辆自行驶时,监督驾驶员接管控制的监督纠正动作;基于监督纠正动作,预测在当前监督纠正动作下的驾驶模拟数据,并对当前监督纠正动作进行评分,以确定以当前监督纠正动作接管控制后的驾驶数据与车辆自行驶数据间的差异在训练控制决策模型时所占的权重;基于混合数据对控制决策模型进行训练,并在有监督驾驶员接管控制时引入对应的权重,从而根据训练后的控制决策模型得到自动驾驶的控制策略。
Automatic driving control decision-making method and system based on man-machine cooperation enhancement
一种基于人机协同增强的自动驾驶控制决策方法及系统
2023-10-13
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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