The invention relates to the technical field of automatic driving, in particular to a causal reinforcement learning system for a vehicle in a safety key scene with causal confusion, and the system comprises a strategy generation network module and a causal graph module. The causal graph module is composed of a causal model; the causal model comprises a state causal model and a reward causal model; the reward causal model is used for redistributing rewards according to the causal relationship between the rewards and other features, and the state causal model identifies the real causal relationship to prevent the algorithm from being misguided by causal confusion features; the causal model is a combination of a causal graph and a full connection layer; the causal model is constructed by adopting a gradient-based causal discovery algorithm; the causal graph is represented by a directed binary adjacency matrix, and the matrix comprises a reward causal graph and a state causal graph at the same time. The invention provides a causal reinforcement learning system for a vehicle in a safety-critical scene with causal confusion, so as to enhance the robustness of an automatic driving vehicle in the safety-critical scene with causal confusion.

    本申请涉及自动驾驶技术领域,特别涉及一种具有因果混淆的安全关键场景下车辆的因果强化学习系统,包括:策略生成网络模块和因果图模块;因果图模块由因果模型构成;因果模型包括状态因果模型和奖励因果模型;奖励因果模型用于根据奖励与其他特征之间的因果关系重新分配奖励,状态因果模型识别真实的因果关系,以防止算法被因果混淆特征误导;因果模型为因果图和全连接层的组合;因果模型是采用基于梯度的因果发现算法构建得到;因果图采用一个有向二元邻接矩阵来表示,矩阵同时包含奖励因果图和状态因果图。本申请提供了一种具有因果混淆的安全关键场景下车辆的因果强化学习系统,以增强自动驾驶车辆在具有因果混淆的安全关键场景中的鲁棒性。


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    Title :

    Causal reinforcement learning system for vehicles in safety-critical scene with causal confusion


    Additional title:

    具有因果混淆的安全关键场景下车辆的因果强化学习系统


    Contributors:
    SUN QIPENG (author) / WANG YONGJIE (author) / NIU YUCHEN (author) / XU ZHIPENG (author) / YANG LEI (author) / MA FEI (author) / ZHU WENYING (author) / LI QIONG (author)

    Publication date :

    2025-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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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    Cooper, P. R. / Birnbaum, L. A. / Brand, M. E. | British Library Online Contents | 1995


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    Safety-Critical Scenario Generation by Causal Influence Detection

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    Using Causal Scene Analysis to Direct Focus of Attention

    Birnbaum, L. / Brand, M. / Cooper, P. et al. | British Library Conference Proceedings | 1993