The invention relates to a personalized automatic lane changing and speed control driving collaborative decision-making method. The method comprises the following steps: S1, constructing a personalized decision-making hierarchical framework; s2, building a lane change decision training network, determining an optimization target of a lane change decision, introducing an action shielding mechanism to eliminate potential safety hazards of dangerous actions, setting an upper-layer state space, an action space and a lane change reward function required by training, and endowing the lane change reward function with personalized weights; s3, building a car-following decision training network, determining an optimization target of a car-following decision, quantizing the optimization target into a reward coefficient, setting a lower-layer state space, an action space and a car-following reward function required by training, and endowing the car-following reward function with personalized weights; and S4, a collaborative decision method is adopted, coupling training of the lane changing decision training network and the car following decision training network is carried out, and style reward priority experience playback is established to enrich experience playback priority measurement. Compared with the prior art, the method has the advantages of improving the safety and the driving efficiency of the vehicle and the like.
本发明涉及一种个性化的自动变道和速度控制驾驶协同决策方法,包括:步骤S1:构建个性化决策分层框架;步骤S2:搭建换道决策训练网络,确定换道决策的优化目标,同时引入动作屏蔽机制消除危险动作的安全隐患,设定训练所需的上层状态空间、动作空间和换道奖励函数,并赋予换道奖励函数个性化权重;步骤S3:搭建跟驰决策训练网络,确定跟驰决策的优化目标,同时将优化目标定量化为奖励系数,并设定训练所需的下层状态空间、动作空间和跟驰奖励函数,并赋予跟驰奖励函数个性化权重;步骤S4:采用协同决策方法并进行换道决策训练网络和跟驰决策训练网络的耦合训练,并搭建风格奖励优先体验回放来丰富经验回放优先级度量。与现有技术相比,本发明具有提高车辆的安全性和行驶效率等优点。
Personalized automatic lane changing and speed control driving collaborative decision-making method
一种个性化的自动变道和速度控制驾驶协同决策方法
2025-03-07
Patent
Electronic Resource
Chinese
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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