The invention discloses a lateral anti-collision driving decision-making method for a commercial vehicle in an urban low-speed environment. The method comprises the following steps: firstly, constructing an urban traffic scene by using a hardware-in-the-loop driving simulation platform, and simulating and collecting safe driving behaviors under different driving conditions and driving working conditions; and secondly, simulating the safe driving behavior of the human driver by using a data aggregation algorithm in an imitation learning mode. And finally, further learning a lateral anti-collision strategy by using a near-end strategy optimization algorithm through an unsupervised learning mode, and realizing advanced decision output of the lateral anti-collision driving behavior of the commercial vehicle. According to the method provided by the invention, the safe driving behavior of a human driver can be simulated, the influence of factors such as a visual blind area and a traffic participant type on driving safety is considered, a more reasonable and effective anti-collision driving strategy is provided for a large-scale commercial vehicle, and a lateral anti-collision driving decision of the commercial vehicle in a city low-speed environment is realized.
本发明公开了一种城市低速环境下的营运车辆侧向防撞驾驶决策方法。首先,利用硬件在环驾驶模拟仿真平台构建城市交通场景,模拟并采集不同驾驶条件和行驶工况下的安全驾驶行为。其次,通过模仿学习的方式,利用数据集聚合算法模拟人类驾驶员的安全驾驶行为。最后,通过无监督学习的方式,利用近端策略优化算法进一步学习侧向防撞策略,实现对营运车辆侧向防撞驾驶行为的高级决策输出。本发明提出的方法,能够模拟人类驾驶员的安全驾驶行为,且考虑了视觉盲区、交通参与者类型等因素对行车安全的影响,为大型营运车辆提供更加合理、有效的防撞驾驶策略,实现了城市低速环境下的营运车辆侧向防撞驾驶决策。
Lateral anti-collision driving decision-making method for commercial vehicle in urban low-speed environment
城市低速环境下的营运车辆侧向防撞驾驶决策方法
2022-11-01
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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