The invention discloses an intelligent vehicle disordered intersection behavior decision-making method and a computer device, and the method comprises the steps: designing an action space A and a reward function R according to a Markov decision-making process in combination with the driving traffic rule of a vehicle at a disordered intersection in the real world; the intelligent vehicle obtains laser radar sensor information and aerial view information of the disordered intersection from the simulation environment in real time, and a state space S is constructed; and constructing a competitive dual Q network comprising a multi-layer perceptron, a convolutional neural network and a competitive neural network, coding and fusing the processed laser radar sensor information and the aerial view information of the disordered intersection subjected to spatial attention extraction characteristics, decoding and inputting the coded and fused information into the competitive neural network to calculate a Q value, and making a decision. In the model evaluation stage, the intelligent vehicle makes a decision by taking the maximum Q value as the principle and smoothly passes through the disordered intersection. According to the invention, the autonomous decision-making capability of the intelligent vehicle at the disordered intersection can be effectively improved.
本发明公开了一种智能车辆无序交叉路口的行为决策方法、计算机装置,根据马尔可夫决策过程,并结合现实世界中车辆在无序交叉路口中的行驶交通规则,设计动作空间A和奖励函数R;智能车辆从仿真环境中实时获取激光雷达传感器信息和无序交叉路口的鸟瞰图信息,构建状态空间S;构建包含多层感知机,卷积神经网络和竞争神经网络的竞争双重Q网络,将处理的激光雷达传感器信息和经由空间注意力提取特征的无序交叉路口的鸟瞰图信息编码融合后,解码输入竞争神经网络计算Q值进行决策。模型评估阶段中,智能车辆以Q值最大为原则进行决策,顺利通过无序交叉路口。本发明可有效提高智能车辆在无序交叉路口中的自主决策能力。
Behavior decision-making method for disordered intersection of intelligent vehicle and computer device
智能车辆无序交叉路口的行为决策方法、计算机装置
2022-08-19
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 |
Behavior decision-making method for intelligent vehicle passing intersection
European Patent Office | 2023
|Intelligent vehicle decision-making method considering uncertainty at intersection
European Patent Office | 2023
|Pre-intersection behavior decision-making method based on drive-by-wire intelligent vehicle
European Patent Office | 2021
|Intersection behavior decision-making method and device for autonomous vehicle
European Patent Office | 2023
|Intersection decision-making method and device for vehicle
European Patent Office | 2022
|