The invention discloses an automatic driving hierarchical decision method for mixed traffic flow, which belongs to the technical field of data processing and artificial intelligence, and comprises the following steps: obtaining a shot image based on a vehicle-mounted sensor, and extracting features of the shot image based on a YOLOv9 algorithm to obtain target state information; processing the target state information to obtain a state matrix; constructing a graph convolution network, calculating the state matrix through the graph convolution network, obtaining a topological graph structure of time sequence information, and obtaining a vehicle driving state based on the topological graph structure of the time sequence information; and constructing a PID control strategy, and making a decision for automatic driving based on the vehicle driving state and the PID control strategy. The hierarchical decision-making method disclosed by the invention shows good generalization ability in various application scenes of a normalized road environment.

    本发明公开了一种面向混合交通流的自动驾驶分层决策方法,属于数据处理及人工智能技术领域,包括:基于车载传感器获取拍摄的图像,基于YOLOv9算法对所述拍摄的图像的特征进行提取,获得目标状态信息;对所述目标状态信息进行处理,获得状态矩阵;构建图卷积网络,通过所述图卷积网络对所述状态矩阵进行计算,获得时间序列信息的拓扑图结构,基于所述时间序列信息的拓扑图结构获取车辆驾驶状态;构建PID控制策略,基于所述车辆驾驶状态和所述PID控制策略对自动驾驶进行决策。本发明分层决策方法在常态化道路环境的各种应用场景中展现出良好的泛化能力。


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    Title :

    Automatic driving hierarchical decision-making method for mixed traffic flow


    Additional title:

    一种面向混合交通流的自动驾驶分层决策方法


    Contributors:
    LI XUEYUAN (author) / YANG FAN (author) / DU MINGGANG (author) / JIANG YUTONG (author) / LIU QI (author) / LI XIANGYU (author)

    Publication date :

    2024-11-15


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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