The invention discloses an automatic driving commercial vehicle formation driving decision-making method based on semi-supervised learning. The method comprises the following steps: firstly, constructing a commercial vehicle formation driving decision model based on semi-supervised learning, and designing a reward function which comprehensively considers collision prevention, rollover prevention, advancing consistency, transverse distance offset and smoothness; secondly, in order to solve the problem that a model is not easy to converge due to the fact that continuous control quantity is adopted in an action space, a formation driving decision sub-network based on data aggregation is constructed; finally, in order to explore driving strategies including conventional, edge and dangerous working conditions, a formation driving decision sub-network based on an improved soft actor commentator is constructed. According to the decision-making method provided by the invention, the problems of poor safety and inaccurate decision-making of an existing commercial vehicle driving decision-making method under the working conditions of formation lane changing and the like are solved.

    本发明公开了一种基于半监督学习的自动驾驶商用车编队行驶决策方法。首先,构建基于半监督学习的商用车编队行驶决策模型,并设计了综合考虑防碰撞、防侧翻、行进一致性、横向距离偏移量和平顺性的奖励函数。其次,为了解决动作空间采用连续控制量导致的模型不易收敛的问题,构建了基于数据聚合的编队行驶决策子网络。最后,为了探索包含常规、边缘和危险等工况在内的驾驶策略,构建了基于改进软演员评论家的编队行驶决策子网络。本发明提出的决策方法,解决了现有的商用车驾驶决策方法在编队变道等工况下安全性差、决策不准确的问题。


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    Title :

    Self-driving commercial vehicle formation driving decision-making method based on semi-supervised learning


    Additional title:

    一种基于半监督学习的自动驾驶商用车编队行驶决策方法


    Contributors:
    HU WEIMING (author) / LIU YAN (author) / ZHOU JINYING (author) / SU MENGYUE (author) / TANG CHAO (author)

    Publication date :

    2024-04-19


    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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