The invention relates to the technical field of automatic driving behavior decision making, and discloses a highway lane changing decision making method and system considering driving styles of surrounding vehicles. Classifying driving styles of surrounding vehicles, and determining characteristic parameters representing transverse and longitudinal characteristics of different driving styles; and in a first simulation environment, using a first reward function considering the characteristic parameters to train surrounding vehicle decision-making models of different driving styles, so that the surrounding vehicle decision-making models reflect different driving styles under different characteristic parameters. And then in a second simulation environment, using a second reward function to train the highway lane change decision model. The second simulation environment comprises surrounding vehicles with different driving styles, behavior decisions of the surrounding vehicles are obtained through surrounding vehicle decision models with different driving styles, a complex traffic scene can be simulated, and the driving styles of the surrounding vehicles are considered in the second reward function, so that the expressway lane changing decision model has better generalization for the surrounding vehicles with different driving styles, and the driving experience of the expressway lane changing decision model is improved. And the robustness and the safety of the lane changing decision are improved.
本申请涉及自动驾驶行为决策技术领域,公开了一种考虑周车驾驶风格的高速公路换道决策方法及系统。对周车的驾驶风格进行分类,确定表征不同驾驶风格横纵向特征的特征参数;在第一仿真环境中,使用考虑上述特征参数的第一奖励函数训练不同驾驶风格的周车决策模型,使周车决策模型在不同的特征参数下体现出不同的驾驶风格。之后在第二仿真环境中,使用第二奖励函数训练高速公路换道决策模型。第二仿真环境中包括不同驾驶风格的周车,其行为决策通过不同驾驶风格的周车决策模型获得,能够模拟复杂的交通场景,且第二奖励函数考虑了周车驾驶风格,使得高速公路换道决策模型对不同驾驶风格周车具有更好的泛化性,提高了换道决策的鲁棒性与安全性。
Expressway lane changing decision-making method and system considering driving styles of surrounding vehicles
考虑周车驾驶风格的高速公路换道决策方法及系统
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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