The invention discloses an unmanned vehicle behavior decision-making method for a pedestrian-vehicle mixed road environment, and belongs to the technical field of intelligent decision-making of unmanned vehicles. Comprising the following steps: acquiring historical data of different types of traffic participants; establishing graph representation of a multi-agent interaction environment, wherein the graph representation comprises a node feature matrix, an adjacent matrix and a supplementary adjacent matrix; performing traffic scene interaction feature extraction by using the supplementary adjacent matrix, and fusing the traffic scene interaction feature with the node feature matrix to obtain an updated node feature matrix; and inputting the adjacent matrix and the updated node feature matrix into a decision model to complete a behavior decision. According to the method, the edge features and the edge types are projected to the same feature space, the feature matrix containing the edges is formed after splicing, traffic scene interaction features are extracted and fused with node features for information enhancement, the problem that GAT cannot process the edge features in an interaction graph is solved, understanding of vehicle behaviors is helped, and the prediction capacity is improved.

    本发明公开了一种用于人车混合道路环境的无人驾驶车辆行为决策方法,属于无人驾驶车辆的智能决策技术领域。包括:获取不同类型交通参与者的历史数据;建立多智能体交互环境的图表征,包括节点特征矩阵、邻接矩阵和补充邻接矩阵;利用所述补充邻接矩阵进行交通场景交互特征提取,并与所述节点特征矩阵相融合,得到更新后的节点特征矩阵;将所述邻接矩阵和更新后的节点特征矩阵输入决策模型完成行为决策。本发明通过将边特征和边类型投影到相同的特征空间,拼接后构成包含边的特征矩阵进行交通场景交互特征的提取,并与节点特征相融合进行信息增强,用以解决GAT不能处理交互图中边特征的问题,帮助车辆行为的理解,提升预测能力。


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    Title :

    Unmanned vehicle behavior decision-making method for pedestrian-vehicle mixed road environment


    Additional title:

    一种用于人车混合道路环境的无人驾驶车辆行为决策方法


    Contributors:
    WANG XIAOLAN (author) / LIU JIALIN (author) / WANG YANSONG (author) / QIANG YUCHUAN (author)

    Publication date :

    2025-02-07


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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