The invention discloses a hierarchical automatic driving vehicle decision control method fusing traffic rules, which comprises the following steps: S1, defining an observation space, and taking traffic signal lamp information, waypoint information, vehicle state information and obstacle information as observation space elements; s2, extracting a state space according to observation space elements, and constructing a hierarchical automatic driving vehicle decision control model fusing traffic rules, which comprises an upper-layer braking sub-model and a lower-layer driving sub-model; s3, designing reward functions of the upper-layer braking sub-model and the lower-layer driving sub-model, and outputting a defined action space according to the upper-layer braking sub-model and the lower-layer driving sub-model; s4, performing iterative training on the upper-layer brake sub-model and the lower-layer drive sub-model by adopting a double-delay depth deterministic strategy gradient algorithm until the double-layer sub-model converges; and S5, placing the vehicle decision control model in a vehicle controller, and performing automatic driving control on the vehicle by using the vehicle controller to complete the automatic driving task of the vehicle.

    本发明公开了一种融合交通规则的分层式自动驾驶车辆决策控制方法,包括以下步骤:S1:定义观测空间,将交通信号灯信息、路径点信息、车辆状态信息、障碍物信息作为观测空间要素;S2:根据观测空间要素提取状态空间,构建融合交通规则的分层式自动驾驶车辆决策控制模型,包括上层制动子模型和下层驱动子模型;S3:设计上层制动子模型和下层驱动子模型的奖励函数,根据上层制动子模型和下层驱动子模型输出定义动作空间;S4:采用双延迟深度确定性策略梯度算法,对上层制动子模型和下层驱动子模型进行迭代训练,直至双层子模型收敛;S5:将车辆决策控制模型置于车辆控制器,利用车辆控制器对车辆进行自动驾驶控制,完成车辆自动驾驶任务。


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    Title :

    Layered autonomous vehicle decision control method fusing traffic rules


    Additional title:

    融合交通规则的分层式自动驾驶车辆决策控制方法


    Contributors:
    LAN FENGCHONG (author) / WEI YITONG (author) / CHEN JIQING (author) / LIU ZHAOLIN (author)

    Publication date :

    2024-02-06


    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



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