The invention discloses a safe driving behavior planning method inspired by defensive driving experience, and particularly relates to the field of safe driving behavior planning, and the method comprises the steps: S1, initializing a traffic environment and setting a vehicle state based on a Gym library; s2, designing a state space; s3, designing an action space; s4, designing a reward function; and S5, training the algorithm until convergence. Soft safety rules such as defensive driving and road feeling and driving intuition of a human driver are applied to current automatic driving, so that the automatic driving function is more perfect, the motion planning capability of an intelligent vehicle is improved, and the automatic driving system can deal with different emergency road conditions more intelligently.
本发明公开了一种防御性驾驶经验启发的安全驾驶行为规划方法,具体涉及安全驾驶行为规划领域,包括S1:基于Gym库初始化交通环境和设置车辆状态;S2:设计状态空间;S3:设计动作空间;S4:设计奖励函数;S5:训练算法直至收敛。本发明通过将“防御性驾驶”这类软安全规则和人类驾驶员的“路感”、“驾驶直觉”应用至目前的自动驾驶当中,使自动驾驶功能更加完善,增加对智能车辆运动规划能力,使自动驾驶系统更加智能应对不同紧急的路况。
Safe driving behavior planning method inspired by defensive driving experience
一种防御性驾驶经验启发的安全驾驶行为规划方法
2024-12-17
Patent
Electronic Resource
Chinese
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