The invention provides a lateral shifting method and device in automatic driving, electronic equipment and a storage medium. The lateral shifting method in automatic driving comprises the steps that manual lane changing process data when a vehicle is driven by a driver and automatic lane changing process data in the automatic driving process are obtained; inputting the automatic lane changing process data into a feedback neural network for training to obtain an initial offset decision neural network; inputting the manual lane changing process data into the initial offset decision neural network for training to obtain a target offset decision neural network; and if a starting instruction of automatic driving is detected, executing lateral deviation of the vehicle through the target deviation decision neural network. The target offset decision neural network is formed through data training in the manual lane changing process, is formed based on the driving habits of the driver, has the personalized style of the driver when transverse offset is executed, retains the driving habits of the driver, and enables the driver to better adapt to the automatic driving function of the vehicle when the driver starts the automatic driving function of the vehicle.
本发明提供一种自动驾驶中横向偏移方法及装置、电子设备、存储介质,其中一种自动驾驶中横向偏移方法包括:获取车辆由驾驶员驾驶时的手动换道过程数据,和在自动驾驶过程中的自动换道过程数据;将自动换道过程数据输入至反馈神经网络中进行训练,得到初始偏移决策神经网络;将手动换道过程数据输入至初始偏移决策神经网络进行训练,得到目标偏移决策神经网络;若检测到自动驾驶的启动指令,则通过目标偏移决策神经网络执行车辆的横向偏移。通过手动换道过程数据训练形成目标偏移决策神经网络,是基于驾驶员的驾驶习惯形成的,在执行横向偏移时具有驾驶员的个性化风格,保留了驾驶员的驾驶习惯,使驾驶员启动车辆自动驾驶功能时更佳适应。
Lateral offset method and device in automatic driving, electronic equipment and storage medium
一种自动驾驶中横向偏移方法及装置、电子设备、存储介质
2022-12-16
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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