The invention discloses a multi-vehicle interactive driving decision-making and driving method and system based on knowledge driving. Comprising the following steps: acquiring key feature data corresponding to multiple groups of different vehicles to construct a data set, and training a neural relationship reasoning model in combination with the data set and domain expert knowledge; deducing the inter-vehicle correlation and potential decision points corresponding to each sample in the data set through a trained neural relationship reasoning model; according to inference results corresponding to all the samples, inferring a reward function by adopting an inverse reinforcement learning method; obtaining the current key feature data of the target vehicle, and deducing the inter-vehicle correlation and potential decision points corresponding to the target vehicle through the trained neural relationship reasoning model; and selecting an optimal driving strategy through a Markov decision process based on the deduced reward function according to the deduced result corresponding to the target vehicle, thereby improving the adaptability and operation transparency of the automatic driving system.
本发明公开了一种基于知识驱动的多车交互驾驶决策、驾驶方法及系统。包括:获取多组不同车辆对应的关键特征数据构建起数据集,并结合数据集和领域专家知识对神经关系推理模型进行训练;通过训练好的神经关系推理模型对所述数据集中各样本对应的车辆间相互关系和潜在决策点进行推断;根据所有样本对应的推断结果,采用逆强化学习方法推断出奖励函数;获取目标车辆当前的关键特征数据,并通过训练好的神经关系推理模型推断目标车辆对应的车辆间相互关系和潜在决策点;基于推断出的所述奖励函数,根据所述目标车辆对应的推断结果,通过马尔科夫决策过程选择出最优驾驶策略,从而提高自动驾驶系统的适应性和操作的透明度。
Multi-vehicle interactive driving decision-making and driving method and system based on knowledge driving
基于知识驱动的多车交互驾驶决策、驾驶方法及系统
2024-11-15
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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