The invention discloses an automatic driving decision-making method for road conditions of a cross-sea bridge. The method comprises a decision-making process of a single-vehicle automatic driving vehicle for a cross-sea bridge road condition environment, and a decision-making process of a multi-vehicle cooperative automatic driving vehicle for the cross-sea bridge road condition environment. A reinforcement learning decision based on a strategy gradient is performed by combining meta-learning of multi-task features with a Soft Actor-Critic, so that the self-adaptability and stability of an automatic driving vehicle to an uncertain road condition environment of a cross-sea bridge can be realized. Aiming at the road condition that the multi-vehicle cooperative autonomous vehicle passes through the cross-sea bridge road condition, a meta reinforcement learning method is adopted to carry out vehicle decision-making based on a multi-vehicle strategy gradient, and a distributed mobile edge computing node and a vehicle-vehicle communication mode are adopted to realize data sharing of multi-vehicle cooperative driving so as to further adjust network parameters, so that vehicles can safely pass through the road condition environment of the cross-sea bridge.
本发明公开了一种面向跨海大桥路况的自动驾驶决策方法,包括针对单车的自动驾驶车辆对跨海大桥路况环境的决策过程,和多车协作的自动驾驶车辆对跨海大桥路况环境的决策过程;通过采用多任务特征的元学习与软行动者‑评论家算法(Soft Actor‑Critic)结合进行基于策略梯度的强化学习决策,有助于实现自动驾驶车辆对不确定性跨海大桥路况环境的自适应性和稳定性;针对多车协作的自动驾驶车辆经过跨海大桥路况环境情况,采用元强化学习方法进行基于多车的策略梯度的车辆决策,并采用分布式移动边缘计算节点和车车通信方式实现多车协作行驶的数据共享,以进一步调整网络参数,保证车辆安全通行跨海大桥路况环境。
Automatic driving decision-making method for road conditions of cross-sea bridge
一种面向跨海大桥路况的自动驾驶决策方法
2021-09-14
Patent
Electronic Resource
Chinese
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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