The invention belongs to the field of unmanned vehicles, particularly relates to an unmanned vehicle hierarchical decision-making method, system and device based on knowledge and data driving, and aims at solving the problem that an existing unmanned vehicle decision-making method is poor in adaptability to a complex environment. The method comprises the steps: obtaining first sensing data at a moment t, wherein the first sensing data comprises surrounding environment data of a controlled unmanned vehicle and state data of the controlled unmanned vehicle; based on the first perception data, obtaining an optimal behavior strategy of the controlled unmanned vehicle through a behavior decision network; based on the target state converted by the optimal behavior strategy, outputting the optimal action strategy of the controlled unmanned vehicle through an action decision network. According to the method, the optimal behavior action decision can be made according to the surrounding environment information and the self state of the unmanned vehicle in various scenes, and the adaptability to the complex environment is high.

    本发明属于无人车领域,具体涉及一种基于知识与数据驱动的无人车分层决策方法、系统、装置,旨在为了解决现有无人车决策方法对复杂环境适应性差的问题。本发明方法包括获取时刻t下的第一感知数据,所述第一感知数据包括被控无人车周围环境数据、被控无人车自身状态数据;基于所述第一感知数据,通过行为决策网络,获取所述被控无人车的最佳行为策略;基于所述最佳行为策略所转换的目标状态,通过动作决策网络,输出所述被控无人车的最佳动作策略。本发明能够根据各种场景下的无人车周围环境信息和自身状态做出最佳行为动作决策,对复杂环境适应性强。


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    Title :

    Unmanned vehicle hierarchical decision-making method, system and device based on knowledge and data driving


    Additional title:

    基于知识与数据驱动的无人车分层决策方法、系统、装置


    Contributors:
    QIU TENGHAI (author) / PU ZHIQIANG (author) / LIU ZHEN (author) / YI JIANQIANG (author) / CHANG HONGXING (author) / ZHANG HAIYING (author) / ZHANG TIANLE (author) / WANG HUIMU (author)

    Publication date :

    2020-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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