The invention discloses an end-to-end automatic driving behavior planning method based on graph attention, and belongs to the technical field of automatic driving. The method mainly comprises the following steps: 1, preliminarily extracting multi-modal features; 2, realizing multi-type sensing tasks; 3, the features are constructed into a graph form according to the perception result, and interested feature screening is achieved; 4, performing feature processing by using a graph attention neural network; 5, predicting future driving path points of the automatic driving vehicle; and 6, behavior planning of the automatic driving vehicle. On the basis of the end-to-end automatic driving behavior planning method provided by the invention, the characteristics of a Graph form are introduced, a discrete information distribution mode in an outdoor automatic driving scene is met, a sensing result is explicitly utilized, and the problem that a traditional end-to-end model is lack of interpretability is solved to a certain extent.
本发明公开了一种基于图注意力的端到端自动驾驶行为规划方法,属于自动驾驶技术领域。本发明主要包括以下步骤:1.多模态特征初步提取;2.多类型感知任务实现;3.根据感知结果将特征构建为图形式,实现感兴趣特征筛选;4.利用图注意力神经网络进行特征处理;5.自动驾驶车辆未来行驶路径点预测;6.自动驾驶车辆行为规划。基于本发明所提出的端到端自动驾驶行为规划方法引入了图(Graph)形式的特征,符合室外自动驾驶场景下的离散型信息分布模式,显式地利用了感知结果,在一定程度上弥补了传统端到端模型缺乏可解释性的问题。
End-to-end automatic driving behavior planning method based on graph attention
一种基于图注意力的端到端自动驾驶行为规划方法
2024-01-05
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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