The invention discloses a lane changing planning control method for an automatic driving vehicle in a dense traffic scene, and the method comprises the steps: taking environment uncertainty, vehicle safety constraint and vehicle interaction heterogeneity into consideration by an interactive reinforcement learning module, and generating a target track of interactive lane changing of the automatic driving vehicle in the dense traffic scene based on a reinforcement learning algorithm; by introducing prior driving knowledge, an unsafe motion planning strategy generated by the interactive reinforcement learning module is identified and adjusted, and the corrected motion planning strategy is transmitted to the motion tracking control module; a local optimal control command is generated based on a nonlinear model predictive control algorithm, and a target trajectory provided by the interactive reinforcement learning module is tracked, so that vehicle dynamics constraints are met, and potential risks can be predicted; the method can be used in cooperation with various sensors and actuators, and environment information and surrounding vehicle state information are obtained; the device can also be used in cooperation with actuators such as a brake, an accelerator and a steering gear so as to achieve motion control over an automatic driving vehicle.

    本发明公开了一种密集交通场景下自动驾驶车辆换道规划控制方法,交互式强化学习模块考虑环境不确定性、车辆安全约束和车辆交互异质性,基于强化学习算法生成密集交通场景下自动驾驶汽车交互式换道的目标轨迹;通过引入先验驾驶知识,识别并调节交互式强化学习模块生成的不安全运动规划策略,并将修正后的运动规划策略传递给运动跟踪控制模块;基于非线性模型预测控制算法生成局部最优控制命令,跟踪交互式强化学习模块提供的目标轨迹,使得满足车辆动力学约束并能够预测潜在风险;本发明方法可以与各种传感器和执行器配合使用,获取环境信息和周围车辆状态信息;还可以与制动器、油门、转向器等执行器配合使用,以实现自动驾驶车辆的运动控制。


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    Titel :

    Lane changing planning control method for autonomous vehicle in dense traffic scene


    Weitere Titelangaben:

    一种密集交通场景下自动驾驶车辆换道规划控制方法


    Beteiligte:
    HOU XIAOHUI (Autor:in) / GAN MINGGANG (Autor:in) / CHEN JIE (Autor:in) / WU WEI (Autor:in) / MA QIANZHAO (Autor:in)

    Erscheinungsdatum :

    02.01.2024


    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



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