The invention discloses a behavior decision-making and planning method for an automatic driving vehicle, and the method comprises the steps: building an automatic driving vehicle behavior decision-making and planning Dueling DDQN model based on a DDQN algorithm through employing a dual structure based on the idea of reinforcement learning, and carrying out the decision-making and planning of the behavior of the automatic driving vehicle according to a driving target of the automatic driving vehicle in a road environment, setting a state space, an action space and a reward function of the host vehicle; the Duelling DDQN model comprises a behavior decision-making unit realized by a Duelling DDQN algorithm and a planning unit realized by a quintic polynomial curve algorithm, the behavior decision-making unit outputs reasonable decision-making actions by combining the state of surrounding vehicles and road information, and the planning unit obtains a reference speed and a local reference path which are free of collision and accord with vehicle kinematics.

    本发明公开了一种自动驾驶车辆的行为决策及规划方法,基于强化学习的思想,使用对偶结构构建以DDQN算法为基础的自动驾驶车辆行为决策及规划Dueling DDQN模型,根据自动驾驶车辆在道路环境中的行驶目标,设定宿主车辆的状态空间、动作空间、奖励函数;Dueling DDQN模型包括由Dueling DDQN算法实现的行为决策单元和由五次多项式曲线算法实现的规划单元,行为决策单元结合周围车辆的状态和道路信息输出合理的决策动作,规划单元得到无碰撞、符合车辆运动学的参考速度和局部参考路径。


    Access

    Download


    Export, share and cite



    Title :

    Behavior decision-making and planning method for autonomous vehicle


    Additional title:

    一种自动驾驶车辆的行为决策及规划方法


    Contributors:
    DONG HONGHUI (author) / LIU YINYUE (author) / LIU TONGTONG (author)

    Publication date :

    2023-12-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Intersection behavior decision-making method and device for autonomous vehicle

    ZHANG SHUO / WEN TAO / WAN KAILIN et al. | European Patent Office | 2023

    Free access

    AUTONOMOUS DRIVING DECISION PLANNING AND AUTONOMOUS VEHICLE

    LI XIAO / HE YICHEN / DING SHUGUANG et al. | European Patent Office | 2024

    Free access

    AUTONOMOUS VEHICLE INTERACTIVE DECISION MAKING

    ISELE DAVID FRANCIS | European Patent Office | 2020

    Free access

    Autonomous vehicle interactive decision making

    ISELE DAVID FRANCIS | European Patent Office | 2022

    Free access

    Autonomous vehicle decision making

    MISU TERUHISA / TAWARI ASHISH / MARTIN SUJITHA CATHERINE | European Patent Office | 2021

    Free access