The embodiment of the invention discloses an automatic driving vehicle multi-target cooperative path planning and scheduling system and method, and the method comprises the steps: obtaining the environment state information of a current vehicle in a communication range and the traffic information of a current planning path, inputting the environment state information into the trained agent model to obtain execution action information, controlling the current vehicle to run according to the execution action information, and when the traffic information meets a preset path updating condition, obtaining a driving task of the current vehicle and each preset vehicle navigation target, adjusting the priority of each vehicle navigation target according to the driving task and the traffic information, adjusting the current planned path based on the adjusted priority of each vehicle navigation target and a pre-loaded traffic map to obtain an updated path, and performing navigation control on the current vehicle based on the updated path. According to the scheme, by fusing deep reinforcement learning and the graph neural network and dynamically adjusting the priority, the accuracy and efficiency of vehicle navigation control can be improved.
本申请实施例公开了一种自动驾驶车辆多目标协同路径规划与调度系统及方法,该方法包括:获取当前车辆所处通信范围内的环境状态信息和当前规划路径的交通信息,将环境状态信息输入至训练完成的智能体模型中得到执行动作信息,根据执行动作信息控制当前车辆运行,交通信息满足预设路径更新条件时,获取当前车辆的驾驶任务和各个预设的车辆导航目标,根据驾驶任务和交通信息调整各个车辆导航目标的优先级,基于调整后的各个车辆导航目标的优先级和预先加载的交通图对当前规划路径进行调整得到更新路径,基于更新路径进行当前车辆的导航控制。本方案通过融合深度强化学习与图神经网络以及动态调整优先级,能够提高车辆导航控制的精确度以及效率。
Multi-target collaborative path planning and scheduling system and method for autonomous vehicle
一种自动驾驶车辆多目标协同路径规划与调度系统及方法
2025-01-24
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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European Patent Office | 2024
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