Takeover cruising method and system based on automatic reasoning mechanism

An automatic reasoning and mechanism technology, applied in the field of takeover cruise methods and systems, can solve the problems of single driving style and rigidity, achieve smooth switching, reduce learning costs, great use value and practical significance.

Active Publication Date: 2019-02-12
POLIXIR TECH LTD
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Problems solved by technology

[0007] Based on this, it is necessary to address the above technical problems and provide a takeover cruise method and system based on an automatic reasoning mechanis

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  • Takeover cruising method and system based on automatic reasoning mechanism
  • Takeover cruising method and system based on automatic reasoning mechanism
  • Takeover cruising method and system based on automatic reasoning mechanism

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Embodiment Construction

[0043] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0044] S1. Input the expert driving demonstration trajectory {τ i} i , and then randomly sample a trajectory τ from j , use the encoder to encode it, and get the hidden variable corresponding to the trajectory Among them, the encoder uses a bidirectional LSTM (LongShort-Term Memory, long-short-term memory), which has 1 input layer, 2 hidden layers and 1 output layer, and its network structure is as follows Figure 4 shown. The output hidden variable is the average of all output values ​​of the second hidden layer.

[0045] S2, the hidden variable z j Input to the decoder is the automatic dri...

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Abstract

The invention discloses a takeover cruising system based on an automatic reasoning mechanism. The takeover cruising system is mainly used in automatic driving, a multi-modal driving strategy network based on a hidden variable can be generated according to a given offline sample, and thus the general automatic driving function is achieved. Meanwhile, the takeover cruising system can further generate an automatic driving strategy matched with manual driving can further be automatically generated according to the style of manual driving when a user adopts manual driving, thus smooth conversion form a manual driving mode to an automatic driving mode on a highway is achieved, and thus automatic driving can perfectly simulate the driving style of manual driving. The takeover cruising system comprises a discriminator module, a driving strategy generating module and a driving style automatic reasoning module. A model is trained on given real expert demonstration, and thus reliability is achieved. Meanwhile, in the process of manual driving of the user, the model can be adjusted in real time according to a manual driving trajectory so as to enhance the flexibility of the model.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a takeover cruise method and system based on an automatic reasoning mechanism. Background technique [0002] Currently, autonomous driving involves three questions: The first is where am I? The second is where am I going? How is the third one going? Real autonomous driving needs to perfectly solve these three problems. The first and second problems refer to positioning and path planning. In reality, the driving road conditions are usually very complicated, so we need centimeter-level positioning and reasonable route selection. The third problem refers to the behavior strategy executed by the vehicle when facing the current environment, that is, the problem of automatic driving strategy. The main operations include brake by wire, steering and accelerator, that is, to control the vehicle according to the automatic driving strategy. What the patent of the present inven...

Claims

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Application Information

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IPC IPC(8): B60W30/14B60W30/182B60W40/00
CPCB60W30/14B60W30/182B60W40/00
Inventor 姜冲章宗长
Owner POLIXIR TECH LTD
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