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Intelligent vehicle automatic driving control method and system

An automatic driving control and intelligent vehicle technology, applied in the control/regulation system, vehicle position/route/altitude control, non-electric variable control and other directions, can solve the problem that automatic driving cannot adaptively complete online learning, etc., to meet real-time requirements Demand, strong adaptability, and the effect of improving ride comfort

Active Publication Date: 2019-10-18
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide an intelligent vehicle automatic driving control method and system to solve the problem that the existing automatic driving cannot be well adaptive to complete online learning

Method used

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  • Intelligent vehicle automatic driving control method and system
  • Intelligent vehicle automatic driving control method and system

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Embodiment 2

[0080] Embodiment 2 of the present invention has provided another kind of method of training driver's behavior learning model, as figure 2 shown.

[0081] When the driving subtask is a lane keeping subtask or a lane changing subtask, the model is not complicated because this type of learning task is relatively simple. Therefore, the feed-forward neural network with simple structure and fast solution speed is selected. The number of nodes in the input layer and output layer depends on the reinforcement learning method adopted. The number of hidden layers is preferably a single layer to simplify the model and avoid overfitting. The number of hidden layer nodes can be calculated according to the empirical formula ( m is the number of nodes in the hidden layer, n is the number of nodes in the input layer, and l is the number of nodes in the output layer). The activation function of the output layer usually chooses a linear function to simplify training, and the activation fun...

Embodiment 3

[0098] The invention also discloses an intelligent vehicle automatic driving control system, the structural diagram is as follows image 3 As shown, it includes: a path decomposition module, which is used to collect the global driving planning path of the intelligent vehicle, decompose the global driving planning path into different driving sections, and divide the different driving sections into corresponding driving sub-tasks according to the driving tasks; The state quantity generation module is used to collect the environmental information corresponding to the driving subtask according to the current driving subtask, and processes the environmental information to obtain the state quantity corresponding to the driving subtask; The state quantity is input into the trained driver behavior learning model, and the real-time output action quantity is processed through the driver behavior learning model; the execution module is used to obtain the underlying control quantity of the...

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Abstract

The invention relates to an intelligent vehicle automatic driving control method and system and belongs to the field of intelligent driving technologies. Through the control method and system, the problem that online learning cannot be well completed self-adaptively in existing automatic driving is solved. The intelligent vehicle automatic driving control method comprises the steps that a global travel planning path of an intelligent vehicle is acquired, the global travel planning path is decomposed into different travel segments, and the different travel segments are dived into correspondingdriving subtasks according to a driving task; according to the current driving subtask, environment information corresponding to the driving subtask is collected, and the environment information is processed to obtain a state quantity corresponding to the driving subtask; the state quantity is input into a trained driver behavior learning model, and an action quantity is output in real time through processing by use of the driver behavior learning model; and a bottom control quantity of the intelligent vehicle is obtained according to the action quantity, and the intelligent vehicle is controlled to run based on the bottom control quantity. Through the control method and system, self-adaptive online learning of automatic driving of the intelligent vehicle is realized.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a control method and system for automatic driving of an intelligent vehicle. Background technique [0002] With the development of sensing technology, artificial intelligence technology, and computer technology, intelligent transportation systems are gradually emerging. The driver's behavior learning system with a high level of automation has aroused continuous attention from the public and research institutions, and has achieved considerable development and progress. [0003] In the military field, the driver behavior learning system can effectively avoid man-made operations under dangerous conditions, and is beneficial to the development of high-mobility unmanned platforms; in the civilian field, the driver behavior learning system can be used for autonomous driving or assisted driving, which can effectively Improve vehicle driving safety and traffic capacity. How...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 吕超于洋陈昕龚建伟杨森
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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