The invention discloses a depth model and rule coupled automatic driving decision planning method. According to the method, a rule-based planning method is coupled to a depth model, so that an automatic driving decision planning task that the depth model outputs a safe and comfortable track is realized. Comprising the following steps: in a decision-making stage based on a Transform algorithm, performing game interaction by using Transform and an attention mechanism, and outputting obstacle prediction information and self-vehicle control information; in the planning stage based on the ILQR algorithm, trajectory optimization is carried out, and safe and comfortable control information of the vehicle is output; in the network parameter updating stage, a loss function is constructed, network parameters are updated, information of the planning stage is fed back to the decision making stage, and finally the optimal track is output. The method has the advantages of being high in game interaction, good in safety and high in generalization, can be used for automatic driving occasions such as urban roads, and is particularly suitable for complex urban road scenes with multiple automobile obstacles.

    本发明公开了一种深度模型与规则耦合的自动驾驶决策规划方法。该方法通过将基于规则的规划方法耦合到深度模型中,实现深度模型输出安全且舒适轨迹的自动驾驶决策规划任务。包括:基于Transformer算法的决策阶段,使用Transformer和注意力机制进行博弈交互,输出障碍物预测信息和自车控制信息;基于ILQR算法的规划阶段,进行轨迹优化,输出自车的安全且舒适的控制信息;更新网络参数阶段,构建损失函数,更新网络参数,反馈规划阶段的信息到决策阶段,最终输出最优轨迹。本发明兼顾博弈交互性高、安全性好、可泛化性强的特点,可用于城市道路等自动驾驶场合,尤其适用于存在多辆汽车障碍物的复杂城市道路场景。


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    Titel :

    Depth model and rule coupled automatic driving decision planning method


    Weitere Titelangaben:

    一种深度模型与规则耦合的自动驾驶决策规划方法


    Beteiligte:
    LONG QINYING (Autor:in) / DU XIN (Autor:in)

    Erscheinungsdatum :

    08.03.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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