The invention discloses an automatic driving decision-making planning method based on driver cognitive architecture, and particularly relates to the field of automatic driving decision-making planning, which comprises the following steps of: 1, constructing a long-term memory bank: based on a driving experiment database, obtaining a driving behavior decision-making rule under a traffic dilemma; and 2, performing scene understanding by using a graph neural network. According to the method, an automatic driving vehicle decision-making model integrated with situation awareness and incremental learning is developed based on a driver cognitive architecture, the model introduces'perception, understanding and prediction 'functions of situation awareness while keeping the relatively strong advantages of interpretability and generalization of the cognitive architecture, the global relationship between traffic participants is comprehensively understood and analyzed, and the decision-making efficiency is improved. The stability problem of the decision system caused by insufficient perception capability of the original framework is improved; incremental learning is utilized to automatically extract interpretable rules from driving data, and a rule base is automatically constructed and updated, so that the self-learning ability is improved.
本发明公开了一种基于驾驶员认知架构的自动驾驶决策规划方法,具体涉及自动驾驶决策规划领域,包括步骤一:构建长期记忆库:基于驾驶实验数据库,获得交通困境下的驾驶行为决策规则;步骤二:利用图神经网络进行场景理解。本发明基于驾驶员认知架构开发融入态势感知和增量学习的自动驾驶车辆决策模型,该模型在保留认知架构可解释性和泛化性较强优势的同时,引入态势感知的“感知、理解与预测”功能,全面理解和分析交通参与者间的全局关系,提升因原框架感知能力不足而导致的决策系统稳定性问题;利用增量学习自动从驾驶数据中提取可解释规则,自动构建和更新规则库,从而提升其自学习能力。
Automatic driving decision planning method based on driver cognitive architecture
一种基于驾驶员认知架构的自动驾驶决策规划方法
2024-11-08
Patent
Electronic Resource
Chinese
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 |
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