A path planning method based on semi-supervised learning includes a trained encoder-decoder type deep neural network for generating and planning a path for the purpose of minimizing trajectory deviation of a tractor-trailer sweeping an area. An encoder encodes input information (e.g., lane markings, static obstacles, and potentially other features) and communicates the input information to a decoder to generate a planned path. A path cost function scores and penalties each path generated by the network based on the deviation of each path generated by the network from the lane center, path smoothness, and collision with any static obstacle, and back propagates the path cost through an encoder-decoder network to train the deep neural network. Since the path cost function is a criterion of path quality, there is no need to collect data from expert driving for training, and only a randomly generated sample of many possible combinations of lane shapes and obstacle arrangements is required.

    基于半监督式学习的路径规划方法包括经训练的编码器‑解码器类型的深度神经网络,用于生成和规划路径,其目的是最小化牵引车‑拖车扫过区域的轨道偏离。编码器对输入信息(例如车道标记、静态障碍物以及潜在的其他特征)进行编码,并且将该输入信息传递至解码器以生成规划路径。路径成本函数基于网络生成的每条路径与车道中心的偏差、路径平滑度和与任何静态障碍物的碰撞来对网络生成的每条路径进行评分和罚分,并且通过编码器‑解码器网络反向传播路径成本以对该深度神经网络进行训练。由于路径成本函数是路径质量的评判标准,因此无需从专家驾驶中收集数据进行训练,而仅需要车道形状和障碍物布置的许多可能组合的随机生成样本。


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    Title :

    Learning-based method and system for path planning for autonomous driving tractor-trailer


    Additional title:

    用于自动驾驶牵引车-拖车的路径规划的基于学习的方法和系统


    Contributors:
    ZHANG XIAN (author)

    Publication date :

    2024-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    Path Planning for Tractor-Trailer System

    Wang, Xinwei / Liu, Jie / Peng, Haijun | Springer Verlag | 2020




    AUTONOMOUS TRACTOR-TRAILER

    BURCHETT CHAD | European Patent Office | 2023

    Free access