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Online training method and device for constrained intelligent automobile autonomous decision-making system

A technology for smart cars and decision-making systems, applied in general control systems, control/regulation systems, comprehensive factory control, etc., to achieve the effect of ensuring safety

Active Publication Date: 2021-07-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, smart cars pay high attention to safety, and there is a contradiction between exploration learning of reinforcement learning decision-making and application safety, that is, if you want to learn a safe policy, you cannot avoid going through dangerous situations, so you need to build constraints to ensure safety in the learning process sex

Method used

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  • Online training method and device for constrained intelligent automobile autonomous decision-making system
  • Online training method and device for constrained intelligent automobile autonomous decision-making system
  • Online training method and device for constrained intelligent automobile autonomous decision-making system

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Embodiment Construction

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0035] The online training method and device of the constrained intelligent vehicle autonomous decision-making system according to the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0036] Firstly, an online training method for a constrained intelligent vehicle autonomous decision-making system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0037] figure 1 It is a flowchart of an online training meth...

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Abstract

The invention discloses an online training method and device for a constrained intelligent automobile autonomous decision-making system, and the method comprises the steps: taking the vehicle driving performance as an optimization target in each round of optimization, and enabling an updating gradient to be projected to a feasible and safe region through calculating a gradient projection matrix of a constraint function, and detecting the absolutely safe operation of the execution strategy by using the safety shield. According to the method, the safety of the intelligent automobile during online target optimization can be ensured, so that the requirement on a simulator is reduced, the application range is not limited by scenes, and the target of safe online training can be achieved.

Description

technical field [0001] The invention relates to the technical field of smart car applications, in particular to an online training method and device for a constrained smart car autonomous decision-making system. Background technique [0002] Automotive intelligent technology has great potential to improve the economy, comfort and safety of road vehicles, and it is the only way for the future development of the automotive industry. It has been verified that the rule-based decision-making and control methods cannot meet the needs of the high-intelligence development of smart cars, and it is necessary to develop learning-based smart car decision-making control technology. However, the decision-making control task of smart cars is a complex sequential decision-making problem. The existing methods using traditional imitation learning or supervised learning, on the one hand, require a large amount of labeled artificial driving data, and it is difficult for the decision-making mode...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCG05B19/41885G05B2219/32339Y02P90/02
Inventor 谷子青马海铜郑四发李升波王建强许庆
Owner TSINGHUA UNIV
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