The invention discloses an automatic driving decision planning method based on deep reinforcement learning and an A-Star algorithm, and the method comprises the steps: carrying out the global path planning through the A-Star algorithm, processing local environment perception information through a deep reinforcement learning model, and making a real-time decision; a neural network model is trained by setting a reward function, so that a complex traffic environment can be effectively processed on the premise of ensuring safety, and good real-time performance and flexibility are achieved; a dynamic safe vehicle distance calculation mechanism based on the vehicle speed and a reward and punishment mechanism for behaviors such as deviating from a global path and approaching a front vehicle are introduced, so that the driving safety is improved; through simulation environment training, the intelligent agent can learn an optimal driving strategy, and more efficient and more intelligent automatic driving is realized. According to the method, the driving decision can be efficiently and accurately provided for the automatic driving vehicle, and the method has good generalization ability and adaptability so as to adapt to complex and changeable traffic environments.

    本发明公开了基于深度强化学习与A‑Star算法的自动驾驶决策规划方法,通过A‑Star算法进行全局路径规划,并利用深度强化学习模型处理局部环境感知信息,做出实时决策;通过设置奖励函数来训练神经网络模型,使其能够在保证安全性的前提下,有效地处理复杂的交通环境,并具有良好的实时性和灵活性;引入了基于车速的动态安全车距计算机制,以及对偏离全局路径、靠近前方车辆等行为的奖惩机制,以提升行驶安全性;通过仿真环境训练,智能体能够学习最佳的驾驶策略,实现更高效、更智能的自动驾驶。本发明方法,能够高效、准确地为自动驾驶车辆提供行驶决策,并具有良好的泛化能力和适应性,以适应复杂多变的交通环境。


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    Title :

    Automatic driving decision planning method based on deep reinforcement learning and A-Star algorithm


    Additional title:

    基于深度强化学习与A-Star算法的自动驾驶决策规划方法


    Contributors:
    YAO BAOZHEN (author) / YANG WEICHEN (author) / JIANG MENG (author) / FENG RUI (author) / LIAO YUXIANG (author)

    Publication date :

    2024-12-20


    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



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