The invention discloses a multi-agent unmanned driving decision-making method and system for a non-signal-lamp intersection scene, and the method comprises the steps: setting a multi-agent parameter space based on an unmanned driving scene of a non-signal intersection; a dynamic noise mechanism is designed for the multiple agents, so that the multiple agents accumulate experience in a parameter space; a sampling rule of an experience playback pool is designed for the multiple agents, so that the multiple agents effectively learn accumulated experience; constructing a decision model based on a parameter space, a dynamic noise mechanism and a sampling rule; and generating the multi-agent unmanned driving decision-making method by using the decision-making model. According to the invention, the unmanned vehicle can pass through a complex signal-free intersection. The method not only improves the problem of low learning efficiency of a multi-agent algorithm model caused by a complex algorithm model of a multi-agent reinforcement learning algorithm, but also improves the problems of unstable decision strategy and poor robustness of final training, and reduces the collision rate of unmanned vehicles at a non-signalized intersection.
本发明公开了一种面向无信号灯路口场景的多智能体无人驾驶决策方法及系统,其中方法步骤包括:基于无信号交叉口的无人驾驶场景,设定多智能体的参数空间;为多智能体设计动态噪声机制,使多智能体在参数空间中积累经验;为多智能体设计经验回放池的采样规则,使多智能体有效学习积累的经验;基于参数空间、动态噪声机制和采样规则,构建决策模型;利用决策模型生成多智能体无人驾驶决策方法。本发明可以使无人驾驶车辆通过复杂的无信号交叉路口。该方法不仅改善了多智能体强化学习算法的算法模型复杂导致多智能体算法模型学习效率较低的问题,而且改善了最终训练的决策策略不够稳定且鲁棒性较差的问题,降低了无信号交叉口的无人驾驶车辆碰撞率。
Multi-agent unmanned driving decision-making method and system for intersection scene without signal lamp
一种面向无信号灯路口场景的多智能体无人驾驶决策方法及系统
08.11.2024
Patent
Elektronische Ressource
Chinesisch
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