The invention relates to an automatic driving automobile control method for an expressway open scene. The automatic driving automobile control method comprises the following steps: S1, configuring an expressway driving scene and a reinforcement learning model; s2, designing an award machine corresponding to the expressway driving scene to generate awards in the reinforcement learning process; the award machine is designed based on the vehicle driving behavior and whether the vehicle complies with the traffic rule; s3, the reinforcement learning model is trained and tested, and samples failed in test are stored; s4, aiming at the samples which fail to be tested, adjusting an award mechanism and corresponding parameters of an award machine; s5, repeating the steps S3-S4 until the performance of the reinforcement learning model obtained by training meets a preset requirement; and S6, deploying the reinforcement learning model meeting the preset requirement in a vehicle intelligent agent, and controlling the vehicle intelligent agent to perform automatic driving. Compared with the prior art, the method can greatly improve the learning efficiency and stability of the intelligent agent, and has very high universality.
本发明涉及一种面向高速公路开放场景的自动驾驶汽车控制方法,包括以下步骤:S1、配置高速公路驾驶场景和强化学习模型;S2、设计与高速公路驾驶场景相对应的奖励机,以产生强化学习过程中的奖励;奖励机基于车辆驾驶行为和车辆是否遵守交通规则进行设计;S3、训练强化学习模型并进行测试,存储测试失败的样本;S4、针对测试失败的样本,调整奖励机的奖励机制和相应参数;S5、重复步骤S3‑S4,直至训练得到的强化学习模型性能满足预设要求;S6、将满足预设要求的强化学习模型部署于车辆智能体中,控制车辆智能体进行自动驾驶。与现有技术相比,本发明能够极大地提高智能体的学习效率以及稳定性,且具有很强的通用性。
Automatic driving automobile control method for expressway open scene
一种面向高速公路开放场景的自动驾驶汽车控制方法
2023-08-18
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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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