The invention relates to an implicit state representation method based on a signal-free intersection automatic driving system, and aims to simplify state space representation and improve system training efficiency and robustness. According to the method, the lane keeping sign and the target speed are introduced as implicit state variables to represent the environment information irrelevant to the vehicle, so that the state space dimension is reduced, and the calculation complexity brought by considering too many surrounding traffic participants and complex environment information is avoided. The target speed is set according to traffic rules and road conditions in the absence of surrounding traffic participants, and the target speed is dynamically adjusted according to the relative position and speed of surrounding vehicles in the presence of surrounding traffic participants. The lane keeping sign judges whether lane changing or lane keeping is needed or not according to the current position of the vehicle and the road information. According to the method, the state space is effectively simplified, the reinforcement learning training efficiency is improved, and automatic driving tasks in complex environments such as non-signal intersections can be better coped with.

    本发明涉及一种基于无信号路口自动驾驶系统的隐式状态表示方法,旨在简化状态空间表示,提升系统训练效率和鲁棒性。该方法通过引入车道保持标志和目标速度作为隐式状态变量,表示与自车无关的环境信息,从而减少了状态空间维度,避免了考虑过多周围交通参与者和复杂环境信息带来的计算复杂性。在无周围交通参与者的情况下,目标速度依据交通规则和道路条件设定,而在有周围交通参与者时,目标速度根据与周围车辆的相对位置和速度进行动态调整。车道保持标志则根据自车当前位置和道路信息判断是否需要变道或保持车道。该方法有效简化了状态空间,提高了强化学习训练效率,能够更好地应对无信号路口等复杂环境中的自动驾驶任务。


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    Title :

    Implicit state representation method based on signal-free intersection automatic driving system


    Additional title:

    一种基于无信号路口自动驾驶系统的隐式状态表示方法


    Contributors:
    ZHAO BIN (author) / LIU XIAOMEI (author) / LI HEWEI (author) / LI HUI (author) / ZHANG YANG (author) / LIU CHANG (author)

    Publication date :

    2025-04-11


    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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