The invention discloses an unmanned vehicle lane changing decision method, device and equipment and a medium, and relates to the technical field of unmanned vehicle driving decision planning control, and the method comprises the steps: inputting a vehicle time feature sequence of a set historical time period into a trained social vehicle intention reasoning model, obtaining an intention recognition result of a future time period, and obtaining an intention recognition result of the future time period; and inputting the intention recognition result in the future time period and the historical trajectory of the vehicle in the set historical time period into the trained driver FNN lane changing decision model to obtain a lane changing decision instruction of the current vehicle. The trained social vehicle intention reasoning model is fused with an attention mechanism, the intention of a driver in the lane changing process is reasoned, lane changing decision is made through the trained driver FNN lane changing decision model, interpretability is improved, and lane changing decision of complex driving scenes and styles is achieved.

    本申请公开了一种无人车辆换道决策方法、装置、设备及介质,涉及无人车驾驶决策规划控制技术领域,该方法包括:将设定历史时间段的车辆时间特征序列输入至训练好的社会车辆意图推理模型中,得到未来时间段的意图识别结果,将未来时间段的意图识别结果和设定历史时间段的自车历史轨迹输入至训练好的驾驶员FNN换道决策模型中,得到当前车辆的换道决策指令。训练好的社会车辆意图推理模型融合注意力机制,对驾驶员换道过程中的意图进行推理,并通过训练好的驾驶员FNN换道决策模型进行换道决策,提高了可解释性,实现了复杂驾驶场景和风格的换道决策。


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    Title :

    Unmanned vehicle lane changing decision-making method, device, equipment and medium


    Additional title:

    一种无人车辆换道决策方法、装置、设备及介质


    Contributors:
    YU HUILONG (author) / WANG HAIRUI (author) / ZHAI YONG (author) / XI JUNQIANG (author)

    Publication date :

    2024-12-03


    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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