The invention provides an automatic driving lane keeping method based on Swim-TD3, and the method comprises the steps: extracting an automatic driving car-following pair under a three-vehicle mode of a guiding vehicle, an automatic driving vehicle and a car-following vehicle based on a real driving data set; a Markov reward process is designed; designing a reinforcement learning reward function based on the requirements of lane keeping safety, efficiency and comfort; a Swim activation function is introduced; an automatic driving lane keeping network framework based on the Swim-TD3 is constructed; the obtained network is trained, and an automatic driving lane keeping model based on Swim-TD3 is obtained; and testing the obtained network model, and verifying the safety, efficiency and comfort of the model.
本发明提供了基于Swim‑TD3的自动驾驶车道保持方法,包括:基于真实驾驶数据集,提取“引导车—自动驾驶车辆—跟驰车”三车模式下的自动驾驶跟驰对;设计马尔可夫奖励过程;基于车道保持安全性、效率及舒适度的要求,设计强化学习奖励函数;引入Swim激活函数;构建基于Swim‑TD3的自动驾驶车道保持网络框架;对所得到的网络进行训练,得到基于Swim‑TD3的自动驾驶车道保持模型;对所得到的网络模型进行测试,验证模型的安全性,效率及舒适度。
Automatic driving lane keeping method based on Swim-TD3
基于Swim-TD3的自动驾驶车道保持方法
2023-12-12
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 |
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