The invention discloses a large commercial vehicle anti-rollover driving decision-making method considering the influence of front obstacles. Firstly, a traffic scene suitable for the anti-rollover driving decision-making method is determined. Secondly, modeling an anti-rollover driving decision problem into a Markov decision process, and establishing an anti-rollover driving decision model of the large commercial vehicle by using a standard strategy gradient algorithm; and finally, training the anti-rollover driving decision model to obtain anti-rollover driving strategies under different driving conditions. According to the decision-making method provided by the invention, potential safety hazards in the process of executing the anti-rollover driving strategy are considered, the defect that an existing method is lack of effectiveness and reliability is overcome, clear driving strategies such as straight movement, steering, acceleration and deceleration are provided for the commercial vehicle, and an effective and reliable anti-rollover driving decision of the large commercial vehicle is realized.
本发明公开了一种考虑前方障碍物影响的大型营运车辆防侧翻驾驶决策方法。首先,明确防侧翻驾驶决策方法适用的交通场景。其次,将防侧翻驾驶决策问题建模为马尔科夫决策过程,利用标准的策略梯度算法建立大型营运车辆的防侧翻驾驶决策模型。最后,对防侧翻驾驶决策模型进行训练,得到不同行驶工况下的防侧翻驾驶策略。本发明提出的决策方法,考虑了执行防侧翻驾驶策略过程中的安全隐患,克服了现有方法缺乏有效性和可靠性的不足,为营运车辆提供直行、转向、加速、减速等明确的驾驶策略,实现了有效、可靠的大型营运车辆防侧翻驾驶决策。
Large commercial vehicle anti-rollover driving decision-making method considering influence of front obstacles
考虑前方障碍物影响的大型营运车辆防侧翻驾驶决策方法
2022-04-22
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 |
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