The invention discloses an unprotected left-turn driving control method based on deep reinforcement learning, and the method comprises the following steps: 1, building a simulation and training environment: 1) building two same closed road environment simulation scenes; 2) setting proper simulation running time, and generating any number of unprotected LTAP/OD events; 3) setting a plurality of straight vehicles and three left-turn vehicle candidate paths; 2, designing a reward function, and processing a complex unprotected LTAP/OD event by adopting the driving skill of a human driver; 3, designing a strategy structure, updating parameters of the deep convolution fuzzy system by using a learning algorithm, and searching an optimal value function; and 4, designing a learning algorithm, and improving the training efficiency by adopting the data of the human driver and a deep convolution fuzzy system algorithm. The combination of the driving skill of the human driver and the deep convolution fuzzy system algorithm effectively improves the interpretability of the deep reinforcement learning algorithm, the error correction capability of the training efficiency and the passing efficiency of the vehicle.

    本发明公开了一种基于深度强化学习的无保护左转弯驾驶控制方法,所述方法步骤如下:1.建立仿真及训练环境,其具体方法为:1)构建两个相同的封闭道路环境模拟场景;2)设置适当的模拟运行时间,生成任意数量的无保护LTAP/OD事件;3)设置多辆直行车辆和三条左转车辆候选路径;2.设计奖励函数,采用人类驾驶员的驾驶技巧处理复杂的无保护LTAP/OD事件;3.设计策略结构,使用学习算法更新深度卷积模糊系统的参数,寻找最优值函数;4.设计学习算法,采用人类驾驶员的数据和深度卷积模糊系统算法提高训练效率。人类驾驶员的驾驶技巧与深度卷积模糊系算法的结合,有效地提高了深度强化学习算法的可解释性、训练效率的纠错能力和车辆的通行效率。


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    Title :

    Unprotected left-turn driving control method based on deep reinforcement learning


    Additional title:

    一种基于深度强化学习的无保护左转弯驾驶控制方法


    Contributors:
    ZHAO MIN (author) / SUN DIHUA (author) / CHEN JIN (author)

    Publication date :

    2021-09-07


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen






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