The invention relates to the technical field of traffic safety, in particular to an automatic driving vehicle passing decision-making method for an urban non-signal road section, which comprises the following steps of: S1, acquiring motion state information of an automatic driving vehicle, and acquiring a pedestrian image and the motion state information through a vehicle-mounted environment sensing sensor; s2, estimating the coordinates of the skeleton key points of the pedestrian by using an Alphapose algorithm, and converting the skeleton key points of the pedestrian into a feature matrix; s3, predicting a pedestrian crossing intention at the pedestrian crosswalk of the road section by adopting a GRU-Transform network; s4, modeling an automatic driving automobile passing decision at the pedestrian crosswalk of the road section as a Markov decision process; s5, constructing an automatic driving vehicle passing strategy based on an inverse reinforcement learning model, and fitting a reward function by using a deep neural network; and S6, training an inverse reinforcement learning model. According to the invention, the safety, high efficiency and comfort of automatic driving automobile passing at the pedestrian crosswalk of the road section can be improved.
本发明涉及交通安全技术领域,尤其涉及一种用于城市无信号路段的自动驾驶汽车通行决策方法,包括,步骤S1采集自动驾驶汽车的运动状态信息,并通过车载环境感知传感器获取行人图像以及运动状态信息;步骤S2利用Alphapose算法估计行人骨骼关键点坐标,并将行人骨骼关键点转换为特征矩阵;步骤S3采用GRU‑Transformer网络预测路段人行横道处行人过街意图;步骤S4将路段人行横道处自动驾驶汽车通行决策建模为马尔科夫决策过程;步骤S5基于逆强化学习模型构建自动驾驶汽车通行策略,使用深度神经网络拟合奖励函数;步骤S6训练逆强化学习模型。本发明能够提高路段人行横道处自动驾驶汽车通行的安全性、高效性和舒适性。
Automatic driving automobile passing decision-making method for urban non-signal road section
一种用于城市无信号路段的自动驾驶汽车通行决策方法
2024-01-23
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 / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr |
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