The invention relates to an automatic driving decision model construction method for roundabout traffic. An Actor network, a Critic network and an experience playback module in a network structure of the automatic driving decision model construction method are improved in a targeted manner; strategy selection of driving actions is carried out by utilizing an Actor sub-network; for the Critic network, a double-layer strategy Critic network structure is adopted, and the problem of model prediction error accumulation caused by value over-estimation is reduced; a priority experience playback model is introduced, and an abnormal value in the decision process is processed by using a Huber loss function; the model constructed by the method can make a safe and reasonable decision in a double-lane roundabout intersection scene, and in addition, the method has great research significance and application value for improvement of road traffic safety and traffic efficiency in the automatic driving era.

    本申请涉及一种针对环岛通行的自动驾驶决策模型构建方法,对其网络结构中的Actor网络、Critic网络及经验回放模块进行针对性的改进;利用Actor子网络分别进行驾驶动作的策略选择;对于Critic网络,采用双层策略Critic网络结构,降低价值过估计导致的模型预测误差累积问题;引入优先经验回放模型,利用Huber损失函数对决策过程中的异常值进行处理;本申请构建的模型能够在双车道环岛交叉口场景下做出安全合理的决策,此外,本申请对自动驾驶时代道路交通安全性和通行效率的提升具有重大的研究意义和应用价值。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Automatic driving decision model construction method for roundabout traffic


    Weitere Titelangaben:

    一种针对环岛通行的自动驾驶决策模型构建方法


    Beteiligte:
    TAO JIE (Autor:in) / LIU ZHANWEN (Autor:in) / DING YUEYANG (Autor:in) / LI WENQIAN (Autor:in) / CHENG JUANRU (Autor:in) / YUN HUIYING (Autor:in) / LI BAO (Autor:in) / LIN CHAOHUI (Autor:in)

    Erscheinungsdatum :

    2023-12-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



    Roundabout Aids Traffic Control

    British Library Online Contents | 1998


    Bracknell roundabout -- Construction of roundabout under railway

    Kendal, J.T. / Palmer, R.W. | Engineering Index Backfile | 1956


    Rational traffic roundabout design

    Knight, H.S.L. | Engineering Index Backfile | 1937


    Roundabout Traffic Flow Intersection

    Junevicius, R. / Bogdevicius, M. / Hunt, U. et al. | British Library Conference Proceedings | 2007


    Traffic flow improvements at Newbridge Roundabout

    Anderson, I. / Martin, K. W. / IEE; Computing and control division | British Library Conference Proceedings | 1994