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。
Behavior decision-making and planning method for autonomous vehicle
一种自动驾驶车辆的行为决策及规划方法
2023-12-26
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 |
Intersection behavior decision-making method and device for autonomous vehicle
European Patent Office | 2023
|AUTONOMOUS DRIVING DECISION PLANNING AND AUTONOMOUS VEHICLE
European Patent Office | 2024
|