According to the pedestrian safety crossing simulation system based on the coupling driving algorithm, a strategy network sub-module is used for iteratively updating strategy network parameters, performing action selection according to a pedestrian agent state at a specified moment, and interacting with an environment to generate a next state; the strategy target network sub-module is used for sampling from the experience pool sub-module, selecting an optimal action and regularly updating strategy network target parameters; the value network sub-module is used for iteratively updating value network parameters and calculating an instant reward and an output sum at a specified moment; the value target network sub-module is used for calculating a Q value of a value network parameter; and the environment interaction sub-module is used for comparing the pedestrian acceleration generated by the given depth deterministic strategy gradient algorithm with the acceleration generated by the pedestrian dynamic model and then taking a reasonable value for outputting. According to the method, the pedestrian collision behavior can be completely avoided in simulation, the correctness of the pedestrian safety crossing simulation behavior is ensured, and the method is suitable for pedestrian simulation in a non-signalized intersection scene.
基于耦合驱动算法的行人安全过街仿真系统,其中,策略网络子模块用于策略网络参数的迭代更新,根据指定时刻行人智能体状态进行动作选择,并与环境交互生成下一状态;策略目标网络子模块用于从经验池子模块中采样,选取最优动作,并定期更新策略网络目标参数;价值网络子模块用于价值网络参数的迭代更新,计算指定时刻的即时报酬和输出总和;价值目标网络子模块用于计算价值网络参数的Q值;环境交互子模块用于将所给的深度确定性策略梯度算法产生的行人加速度与行人动力学模型产生的加速度进行比较后取合理值进行输出。本发明能够在仿真中完全避免行人碰撞行为,确保行人安全过街仿真行为正确性,适合无信号交叉口场景下的行人仿真。
Pedestrian safe crossing simulation system based on coupling driving algorithm
基于耦合驱动算法的行人安全过街仿真系统
2023-10-24
Patent
Electronic Resource
Chinese
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