The invention relates to the technical field of intelligent driving, in particular to a deep reinforcement learning safety decision-making method for an automatic driving long-tail scene. The method comprises the following steps: matching a topological relation graph in a long-tail knowledge graph to obtain scene similarity, and determining whether an implicit risk element exists in a driving scene of a vehicle based on the scene similarity; determining attribute information of the implicit risk element under the condition of determining that the implicit risk element exists in the driving scene of the vehicle, and determining a space risk index based on the attribute information of the vehicle and the implicit risk element; determining the scene complexity of the driving scene of the vehicle based on the scene similarity and the space risk index; and inputting the attribute information of the vehicle, the attribute information of each road element and the scene complexity into a decision model to obtain a target action output by the decision model, and controlling the vehicle based on the target action. By the adoption of the method, the vehicle driving safety of the vehicle in a complex scene can be improved.
本申请涉及智能驾驶的技术领域,特别是涉及一种面向自动驾驶长尾场景的深度强化学习安全决策方法。方法包括:在长尾知识图中匹配拓扑关系图,得到场景相似度,并基于场景相似度确定自车的驾驶场景中是否存在隐式风险元素;在确定自车的驾驶场景中存在隐式风险元素的情况下,确定隐式风险元素的属性信息,并基于自车和隐式风险元素各自的属性信息,确定空间风险指标;基于场景相似度和空间风险指标,确定自车的驾驶场景的场景复杂度;将自车的属性信息、各道路元素的属性信息以及场景复杂度,输入决策模型,得到决策模型输出的目标动作,并基于目标动作控制自车。采用本申请的方法可以提高车辆在复杂场景车辆行驶的安全性。
Deep reinforcement learning safety decision-making method for automatic driving long-tail scene
面向自动驾驶长尾场景的深度强化学习安全决策方法
2025-05-02
Patent
Electronic Resource
Chinese
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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