The embodiment of the invention discloses an intelligent vehicle driving decision-making method considering an attachment condition. The method comprises the steps of obtaining a current expected vehicle speed, a speed error item, an attachment coefficient and front and rear images of a vehicle of an intelligent vehicle; the comfortable deceleration in the IDM car-following model is corrected according to the adhesion coefficient, and the longitudinal acceleration of the vehicle is generated through the corrected comfortable deceleration; extracting image features from the front and rear images of the vehicle by using a feature extractor, and inputting the image features, the expected vehicle speed, the speed error term and the adhesion coefficient into a DQN model; the DQN model calculates a reward value according to the corrected comfortable deceleration, and generates a transverse lane changing action of the vehicle according to the reward value and an anti-collision action mask; and the longitudinal acceleration and the transverse lane changing action jointly form the final action of the vehicle. According to the embodiment, the adaptability of the vehicle running at a high speed to different attachment conditions is improved.
本发明实施例公开了一种考虑附着状况的智能汽车驾驶决策方法,包括:获取智能车辆当前的期望车速、速度误差项、附着系数和车辆前后方图像;根据所述附着系数对IDM跟驰模型中的舒适减速度进行修正,并利用修正后的舒适减速度生成车辆的纵向加速度;利用特征提取器从所述车辆前后方图像中提取图像特征,并将所述图像特征与所述期望车速、速度误差项、附着系数共同输入DQN模型;所述DQN模型根据所述修正后的舒适减速度计算奖励值,并根据所述奖励值和防碰撞动作掩码生成车辆的横向换道动作;由所述纵向加速度和横向换道动作,共同构成车辆的最终动作。本实施例提高了高速行驶的车辆对不同附着状况的适应性。
Intelligent automobile driving decision-making method considering attachment condition
一种考虑附着状况的智能汽车驾驶决策方法
2025-04-15
Patent
Electronic Resource
Chinese
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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