The invention discloses an unmanned driving hierarchical motion decision control method based on deep reinforcement learning. The control method is realized by taking a meta motion decision-vehicle control hierarchical motion decision control model as a carrier. Through abstract decomposition of driving behaviors and analysis of environmental factors influencing the driving behaviors, a motion decision control process is decomposed into a mode of meta-motion decision-vehicle control, the meta-motion decision belongs to a discrete decision problem, and an end-to-end model from dynamic driving information to element actions is established by using a DQN deep reinforcement learning algorithm. Vehicle control belongs to continuous action output, a DDPG deep reinforcement learning algorithm is adopted to establish an end-to-end model which maps road information and element actions to accelerator, brake and steering wheel control quantities, a PyTorch deep learning framework is used for establishment of a neural network, a selected development language is Python, and the model outputs the control quantity of the vehicle by receiving the driving behavior instruction and combining the environment state information.

    本发明公开了基于深度强化学习的无人驾驶分层运动决策控制方法,以“元动作决策‑车辆控制”层次化运动决策控制模型为载体实现的。通过对驾驶行为的抽象分解和对影响驾驶行为的环境因素分析,以将运动决策控制过程分解为“元动作决策‑车辆控制”的模式实现的,元动作决策属于离散型决策问题,利用DQN深度强化学习算法建立一个由动态驾驶信息到元动作的端到端模型。车辆控制属于连续型动作输出,采用DDPG深度强化学习算法建立一个从道路信息与元动作,映射到油门、刹车和方向盘控制量的端到端模型,神经网络的搭建使用PyTorch深度学习框架,选择的开发语言是Python,模型通过接收驾驶行为指令并结合环境状态信息,输出车辆的控制量。


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    Title :

    Unmanned driving hierarchical motion decision control method based on deep reinforcement learning


    Additional title:

    基于深度强化学习的无人驾驶分层运动决策控制方法


    Contributors:
    HUANG ZHIQING (author) / QU ZHIWEI (author)

    Publication date :

    2021-08-17


    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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