The invention discloses an automatic driving vehicle decision-making method for a pedestrian crossing scene. The method comprises the following steps: S1, collecting a motion state of a vehicle and a pedestrian track; s2, smoothing and classifying pedestrian tracks; s3, training is carried out through a deep reinforcement learning algorithm according to the motion state of the vehicle and the different pedestrian moving trajectories, and an automatic driving decision model is obtained; and S4, inputting the motion state of the vehicle and the pedestrian trajectory in the real-time environment into the automatic driving decision model to obtain an optimal driving decision when the automatic driving vehicle faces different pedestrian crossing scenes. By adopting the technical scheme of the invention, safe and efficient interaction with other traffic participants and the surrounding environment can be ensured.
本发明公开一种面向行人过街场景的自动驾驶车辆决策方法,包括:步骤S1、采集车辆的运动状态和行人轨迹;步骤S2、将行人轨迹平滑处理并分类;步骤S3、根据车辆的运动状态和不同的行人运行轨迹通过深度强化学习算法进行训练,得到自动驾驶决策模型;步骤S4、将实时环境下的车辆的运动状态和行人轨迹输入到自动驾驶决策模型中,得到自动驾驶车辆面对不同行人过街场景时做出最优驾驶决策。采用本发明的技术方案,可以确保与其他交通参与者及周围环境安全高效交互。
Automatic driving vehicle decision-making method for pedestrian crossing scene
面向行人过街场景的自动驾驶车辆决策方法
20.06.2025
Patent
Elektronische Ressource
Chinesisch
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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