Backward anti-collision driving decision-making method for heavy commercial vehicle

Abstract

The invention discloses a backward anti-collision driving decision-making method for a heavy commercial vehicle. Firstly, a traffic environment model is established, and motion state information of a heavy commercial vehicle and vehicles behind the heavy commercial vehicle is collected; secondly, a backward collision risk assessment model based on backward distance collision time is established, and backward collision risks are accurately quantified; and finally, the backward anti-collision driving decision problem is described as a Markov decision process under a certain reward function, a backward anti-collision driving decision model is established based on deep reinforcement learning, and an effective, reliable and self-adaptive backward anti-collision driving decision strategy is obtained. According to the method provided by the invention, the defect of lack of backward anti-collision driving decision research of the heavy commercial vehicle in the existing method is overcome, reasonable steering wheel angle and throttle opening control quantity can be quantitatively output, effective and reliable backward anti-collision driving suggestions are provided for a driver, and backward collision accidents are reduced.

Description

technical field [0001] The invention relates to a decision-making method for anti-collision driving, in particular to a decision-making method for backward anti-collision driving of heavy commercial vehicles, and belongs to the technical field of automobile safety. Background technique [0002] As the main undertaker of road transportation, the safety status of operating vehicles directly affects the safety of road transportation in our country. Vehicle collision is the most important accident form in road transportation. Heavy-duty commercial vehicles represented by dangerous goods transport tankers are mostly loaded with dangerous chemicals such as inflammable, explosive, and highly toxic (methanol, acrylonitrile). Compared with forward collisions, rear collisions are more likely to cause tank damage. If the body is damaged, it will cause serious consequences such as leakage, combustion, and explosion of dangerous goods in the tank. Driving decision-making is an importan...

AI Technical Summary

Problems solved by technology

Therefore, the driving decision-making method for passenger vehicles is difficult to apply to heavy-duty commercial vehicles

In general, the existing research does not involve the dri

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