The invention relates to an automatic driving behavior decision-making system considering social preferences of surrounding vehicles. The system is used for solving the problem that automatic driving decision-making is difficult due to the fact that the social preferences of drivers are uncertain in an existing traffic environment. According to the scheme, hierarchical reinforcement learning is adopted to realize automatic driving behavior decision-making, and a meta controller performs decision-making selection of keeping a lane to continue driving, changing a lane or returning to an original lane by using a historical state of an autonomous vehicle; wherein returning to the original lane is realized by the autonomous vehicle through interruption of lane changing, and the interruption condition is that when the autonomous vehicle just starts to change the lane or the edge of the vehicle body just makes contact with a lane line on the adjacent side of the target lane in the lane changing process, the social preference type of the vehicle behind the target lane is recognized as a profit type according to the current moment state; the controller plans a target trajectory sampling point of the autonomous vehicle on the center line of the lane or the adjacent lane based on the state historical information; the meta-controller and the controller employ the same reward calculation that includes making target decisions based on social preferences of surrounding vehicles.
本发明涉及一种考虑周围车辆社会偏好的自动驾驶行为决策系统,用于解决现有交通环境中因驾驶员社会偏好具有不确定性而导致自动驾驶决策困难的问题。本方案采用分层强化学习实现自动驾驶行为决策,其元控制器利用自主车辆的历史状态进行保持车道继续行驶、换道或返回原车道决策选择;其中返回原车道为自主车辆通过中断换道实现,中断条件为其刚开始换道或在换道过程中车身边缘刚接触目标车道邻侧车道线时,根据当前时刻状态识别出目标车道后方车辆社会偏好类型为利己型;控制器为基于状态历史信息,进行自主车辆在本车道或者邻车道中心线上的目标轨迹采样点规划;元控制器和控制器采用相同的包括基于周围车辆的社会偏好进行目标决策的奖励计算。
Automatic driving behavior decision-making system considering social preferences of surrounding vehicles
考虑周围车辆社会偏好的自动驾驶行为决策系统
2024-05-10
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 |
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