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Training method of vehicle path transformation model and path transformation method and device

A technology for transforming models and vehicle paths, which is applied in the training field of vehicle path transformation models, and can solve problems such as large computational complexity, unsuitable real-time application processes, and inability to enumerate trajectories.

Active Publication Date: 2020-12-01
MOMENTA SUZHOU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The above method has a large computational complexity in the implementation process, and cannot list all feasible trajectories, and is not suitable for real-time application process

Method used

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  • Training method of vehicle path transformation model and path transformation method and device
  • Training method of vehicle path transformation model and path transformation method and device
  • Training method of vehicle path transformation model and path transformation method and device

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Experimental program
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Embodiment 1

[0091] see figure 1 , figure 1 It is a schematic flowchart of a training method for a vehicle path transformation model provided by an embodiment of the present invention. The method is applied in automatic driving, and can be executed by a training device for a vehicle path transformation model. This device can be realized by means of software and / or hardware, and can generally be integrated in a vehicle-mounted computer, a vehicle-mounted industrial personal computer (IPC), etc. In the vehicle-mounted terminal, the embodiments of the present invention are not limited. Such as figure 1 As shown, the method provided in this embodiment specifically includes:

[0092]110. Acquire the historical motion information of the own vehicle when the current vehicle receives the path change instruction, and the historical motion information of other vehicles other than the current vehicle in the corresponding historical environmental perception information.

[0093] Wherein, the path ...

Embodiment 2

[0113] see image 3 , image 3 It is a schematic flowchart of a vehicle path changing method provided by an embodiment of the present invention. In this embodiment, on the basis of the path transformation model constructed in the above-mentioned embodiments, the path transformation model is applied to the actual driving process of the vehicle. It can be implemented in a manner, and generally can be integrated in a vehicle-mounted terminal such as a vehicle-mounted computer, a vehicle-mounted industrial personal computer (IPC), etc., which is not limited in the embodiment of the present invention. Such as image 3 As shown, the method includes:

[0114] 210. Acquire environment perception information and path transformation instructions.

[0115] Wherein, the environmental perception information includes current motion information of other vehicles other than the current vehicle, and the current motion information includes: speed, position and acceleration. The path change...

Embodiment 3

[0123] see Figure 4 , Figure 4 It is a schematic structural diagram of a training device for a vehicle path transformation model provided by an embodiment of the present invention. Such as Figure 4 As shown, the device includes: historical motion information acquisition module 310, planning path generation module 320, training sample set generation module 330 and path transformation model establishment module 340; wherein,

[0124] The historical movement information acquisition module 310 is configured to acquire the historical movement information of the own vehicle when the current vehicle receives the path change instruction, and the historical movement information of other vehicles other than the current vehicle in the corresponding historical environment perception information, the history Motion information including velocity, position and acceleration;

[0125] The planned route generation module 320 is configured to generate a planned route that satisfies the ve...

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Abstract

The embodiment of the invention discloses a training method of a vehicle path transformation model and a path transformation method and device. The method comprises the steps of obtaining historical motion information of a current vehicle when the current vehicle receives a path transformation instruction and historical motion information of other vehicles in corresponding historical environment perception information,according to the historical motion information of the own vehicle and the other vehicles, generating a planned path which meets vehicle position constraints and enables a presettarget function to reach a preset convergence condition,detecting a path transformation effect on the planned path, and taking a target driving path meeting a preset path transformation requirement ina detection result and corresponding historical motion information as a training sample set,and training the initial neural network model by using the training sample set to obtain a path transformation model of the vehicle, the path transformation model associating the motion information of the current vehicle and other vehicles with a target driving path when the path of the current vehicle ischanged. By adopting the technical scheme, the accuracy and efficiency of path planning are improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a training method for a vehicle path transformation model, a path transformation method and a device. Background technique [0002] Motion planning is to find a constraint-compliant path for an unmanned vehicle between a given location A and location B. This constraint can be no collision, shortest path, minimum mechanical work, etc. It is an important research field of robotics. [0003] For safe and efficient unmanned vehicle planning, the planning method based on optimization solution can provide an optimal strategy for unmanned vehicles. Most of the existing path planning algorithms are based on search to generate a series of feasible trajectories satisfying the dynamics, and then filter out more suitable motion paths through collision detection and fusion of some artificial trajectory features. [0004] The above method has a large computational complexity in th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/01G08G1/16
CPCG08G1/0129G08G1/166G08G1/167
Inventor 时天宇席晨阳陈杰
Owner MOMENTA SUZHOU TECH CO LTD
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