The invention relates to an automatic driving behavior decision-making method and system based on multiple attention mechanisms and a medium, and the method comprises the steps: J1, obtaining the static map data information of a road in real time based on a vehicle-mounted high-precision map when a vehicle runs on the road, acquiring data information of other obstacle targets and state data information of the vehicle in real time based on a vehicle-mounted sensing system; j2, based on the state data information of the vehicle, the data information of the other obstacle targets and the static map data information of the road, the relation between the vehicle and the other obstacle targets and the map is obtained, the vehicle, the other obstacle targets and map elements are recognized respectively, local features of the vehicle, the other obstacle targets and the map elements are extracted, and an attention mechanism is adopted to recognize the vehicle, the other obstacle targets and the map elements; and extracting interaction characteristics between the vehicle and other obstacle targets and map elements. According to the method, more abundant decision-making results can be obtained, and the decision-making expression requirements of complex scenes are met.
本发明涉及一种基于多重注意力机制的自动驾驶行为决策方法、系统及介质,所述方法包括:J1.车辆行驶在道路上,基于车载高精度地图实时获取道路的静态地图数据信息,基于车载感知系统实时获取其他障碍物目标的数据信息和车辆的状态数据信息;J2.基于所述车辆的状态数据信息和所述其他障碍物目标的数据信息、所述道路的静态地图数据信息,获取车辆与其他障碍物目标及地图的关系,对车辆、其他障碍物目标及地图元素分别进行识别,提取各自局部特征,再采用注意力机制,提取车辆与其他障碍物目标及地图元素之间的交互特征。本发明不仅可以得到更加负责丰富的决策结果,而且满足复杂场景的决策表达需求。
Automatic driving behavior decision-making method and system based on multiple attention mechanisms and medium
一种基于多重注意力机制的自动驾驶行为决策方法、系统及介质
2023-12-26
Patent
Elektronische Ressource
Chinesisch
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