The invention provides a vehicle whistling control method and device, a storage medium and an automatic driving vehicle. The method comprises the following steps: constructing a neural network model fused with an attention mechanism, acquiring real-time obstacle information in a real-time driving process of a controlled vehicle, and constructing a real-time feature vector corresponding to the real-time obstacle information; and inputting the real-time feature vector into the neural network model for operation to obtain a real-time attention coefficient of an obstacle and a real-time safety coefficient of the controlled vehicle, and controlling the controlled vehicle to whistle under the condition that the real-time safety coefficient of the controlled vehicle is smaller than a first safety coefficient threshold value. The attention mechanism is fused in the neural network model, so that the interactive game ability of the vehicle and the traffic participant is fully considered, and the predicted danger coefficient is more accurate due to the setting of the feature vector.
本申请提供了一种车辆鸣笛控制方法、装置、存储介质与自动驾驶车辆。该方法包括:构建融合注意力机制的神经网络模型,在被控车辆实时行驶的过程中,获取实时障碍物信息,以及构建与所述实时障碍物信息对应的实时特征向量;将所述实时特征向量输入至所述神经网络模型中运算,得到障碍物实时注意力系数以及被控车辆实时安全系数,且在所述被控车辆实时安全系数小于第一安全系数阈值的情况下,控制所述被控车辆鸣笛。通过将注意力机制融合在神经网络模型中实现了对车辆与交通参与者的交互博弈能力的充分考虑,并且本申请中的特征向量的设置使预测得到的危险系数更加准确。
Vehicle whistling control method and device, storage medium and automatic driving vehicle
车辆鸣笛控制方法、装置、存储介质与自动驾驶车辆
2024-02-20
Patent
Elektronische Ressource
Chinesisch
IPC: | B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein |
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