The invention discloses a learning type emergency collision avoidance control method and system for an automatic driving commercial vehicle and a storage medium. The method comprises the following steps: constructing a reinforcement learning network model based on a soft actor commentator architecture, constructing a corresponding Bayesian strategy network for a commercial vehicle driving task and a control action, and expanding a playback buffer area for attenuating expert experience so as to generate a combined control strategy adapting to an emergency collision avoidance working condition; and the vehicle applies the continuous control action generated by the Bayesian strategy network to a driving decision-making task, and performs automatic driving under the guidance of a reward function by taking a collision-free collision avoidance task under a high-speed condition as a target. According to the method, the learning efficiency and driving strategy improvement of the emergency collision avoidance control of the automatic driving commercial vehicle are realized by using the Bayesian strategy network and the attenuation expert experience guidance technology, the long-tail problem of the safety aspect of the automatic driving commercial vehicle is solved, and the application and popularization of the automatic driving commercial vehicle are facilitated.
本发明公开一种自动驾驶商用车学习型紧急避撞控制方法、系统和存储介质。该方法包括:基于软演员评论家架构构建强化学习网络模型,针对商用车驾驶任务及控制动作构建对应的贝叶斯策略网络,并扩展衰减专家经验的重放缓冲区,从而产生适应紧急避撞工况的联合控制策略;车辆将贝叶斯策略网络产生的连续控制动作应用于驾驶决策任务中,以高速情况下无碰撞的避撞任务为目标,在奖励函数的指导下进行自动驾驶。本发明方法利用贝叶斯策略网络与衰减专家经验指导技术,实现自动驾驶商用车紧急避撞控制的学习效率与驾驶策略改善,有利于解决自动驾驶商用车存在的安全性方面的长尾问题,助力自动驾驶商用车应用推广。
Learning type emergency collision avoidance control method and system for automatic driving commercial vehicle and storage medium
一种自动驾驶商用车学习型紧急避撞控制方法、系统和存储介质
2025-05-09
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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