The invention belongs to the technical field of automatic driving, and discloses a priori knowledge fused end-to-end automatic driving decision-making method, which comprises the following steps of: establishing a vehicle control guide model; in the simulation environment, vehicle control is conducted through the vehicle control guiding model, and a control variable output by the vehicle control guiding model serves as a first action variable; taking the state variable and the corresponding first action variable group as prior experience; training the reinforcement learning network model by using prior experience to obtain a preliminarily trained reinforcement learning network model; using the preliminarily trained reinforcement learning network model to control the vehicle to run, and switching to a manual driving mode when the collision risk is judged to occur; storing an output control variable of the preliminarily trained reinforcement learning network model and a control variable output by the manual driving mode as a second action variable; and performing iterative optimization on the preliminarily trained reinforcement learning network model by using the state variable and the second action variable corresponding to the state variable to obtain an automatic driving decision model.
本发明属于自动驾驶技术领域,公开了一种融合先验知识的端到端自动驾驶决策方法,包括:建立车辆控制引导模型;在仿真环境中,利用车辆控制引导模型进行车辆控制,将车辆控制引导模型输出的控制变量作为第一动作变量;并将状态变量与对应的第一动作变量组作为先验经验;利用先验经验对强化学习网络模型进行训练,得到初步训练的强化学习网络模型;利用初步训练的强化学习网络模型控制车辆行驶,并且在判定发生碰撞风险时切换为手动驾驶模式;将初步训练的强化学习网络模型的输出控制变量和手动驾驶模式输出的控制变量存储为第二动作变量;利用状态变量与其对应的第二动作变量对初步训练的强化学习网络模型进行迭代优化,得到自动驾驶决策模型。
Priori knowledge fused end-to-end automatic driving decision-making method
一种融合先验知识的端到端自动驾驶决策方法
2025-05-13
Patent
Electronic Resource
Chinese
IPC: | G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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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