The invention discloses a complex service demand-oriented automatic driving system with a safety perception function. The system comprises a perception module, a driving safety evaluation module, a feasible task sequence module, a task level planning module, a reinforcement learning-based motion level planning module and a control module. Wherein the sensing module is used for scene understanding; the driving safety evaluation module performs safety evaluation according to the scene understanding information; the feasible task sequence module carries out planning on a driving task level; the task level planning module is responsible for planning in the aspect of vehicle behaviors; the motion hierarchy planning module based on reinforcement learning realizes accurate planning of a vehicle track; the control module adopts a control algorithm to track and plan a route; according to the automatic driving system with the safety perception function and oriented to the complex service requirements, a comfortable, safe and efficient automatic driving system is constructed aiming at the problem that an automatic driving vehicle meets the complex service requirements in a life scene.
本发明公开了一种具有安全感知功能的面向复杂服务需求的自动驾驶系统,系统包含感知模块、驾驶安全评估模块、可行任务序列模块、任务层级规划模块、基于强化学习的运动层级规划模块、控制模块。其中,感知模块用于场景理解;驾驶安全评估模块根据场景理解信息进行安全评估;可行任务序列模块在驾驶任务层面进行规划;任务层级规划模块负责车辆行为方面的规划;基于强化学习的运动层级规划模块实现了对车辆轨迹的精确规划;控制模块采用控制算法跟踪规划路线;本发明设计的具有安全感知功能的面向复杂服务需求的自动驾驶系统针对自动驾驶车辆实现生活场景中的复杂服务需求问题,构建出一套舒适、安全且高效的自动驾驶系统。
Complex service demand-oriented automatic driving system with safety perception function
具有安全感知功能的面向复杂服务需求的自动驾驶系统
14.06.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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