本发明公开了一种基于双重交互感知的智能网联汽车协同决策方法,包括以下步骤:利用集中训练和分布式执行多智能体强化学习框架,设计双重互感知协同控制策略DIACC;利用分布式的交互自适应决策模块D‑IADM学习与周围车辆的交互特征和交通环境信息;利用集中式交互增强评价器C‑IEC模块捕捉全局车辆交互与全局交通动态之间的关系。本发明采用上述一种基于双重交互感知的智能网联汽车协同决策方法,使智能网联汽车主动提前调整其行为,减少了预汇入区与其他车辆的横向冲突,另一方面,智能网联汽车的行为积极引导并协调了人工驾驶汽车,从而提高了整体交通表现。
The invention discloses an intelligent network connection automobile collaborative decision-making method based on double interactive perception, and the method comprises the following steps: designing a double interactive perception collaborative control strategy DIACC through employing a centralized training and distributed execution multi-agent reinforcement learning framework; using a distributed interactive adaptive decision module D-IADM to learn interactive characteristics with surrounding vehicles and traffic environment information; a centralized interaction enhancement evaluator (C-IEC) module is utilized to capture a relationship between global vehicle interaction and global traffic dynamics. According to the intelligent connected automobile collaborative decision-making method based on double interactive perception, the behaviors of the intelligent connected automobile are actively adjusted in advance, transverse conflicts between a pre-confluence area and other vehicles are reduced, on the other hand, the behaviors of the intelligent connected automobile actively guide and coordinate manual driving of the automobile, and the driving safety of the automobile is improved. Therefore, the overall traffic performance is improved.
一种基于双重交互感知的智能网联汽车协同决策方法
13.06.2025
Patent
Elektronische Ressource
Chinesisch