An automatic driving decision-making method for road conditions of cross-sea bridges

Abstract

The invention discloses an automatic driving decision-making method oriented to the road conditions of a cross-sea bridge, including a decision-making process for a single-vehicle self-driving vehicle on the road condition environment of a cross-sea bridge, and a multi-vehicle cooperative automatic driving vehicle for decision-making on the road condition environment of a cross-sea bridge Process; by combining meta-learning with multi-task features and Soft Actor-Critic algorithm for policy gradient-based reinforcement learning decision-making, it is helpful to realize autonomous driving vehicles in the environment of uncertain cross-sea bridge road conditions The adaptability and stability of the multi-vehicle cooperation; for the multi-vehicle cooperative autonomous driving vehicle passing the cross-sea bridge road conditions, the meta-reinforcement learning method is used to make vehicle decision based on the multi-vehicle policy gradient, and the distributed mobile edge computing nodes and vehicles are used. The vehicle communication method realizes the data sharing of multi-vehicle cooperative driving, so as to further adjust the network parameters and ensure the safe passage of vehicles on the road conditions of the cross-sea bridge.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to an automatic driving decision-making method oriented to the road conditions of a cross-sea bridge. Background technique [0002] Under complex road conditions and severe weather conditions of cross-sea bridges, autonomous vehicles are prone to bridge deck vibrations caused by slippery roads, low visibility, and strong wind interference, causing vehicle models and tire models to fall into uncertainty and limit states. Instability phenomena such as side slip, roll and yaw are caused to the vehicle, the vehicle cannot make accurate decisions and it is difficult to realize the safety control of the vehicle. Traditional decision-making and control methods for autonomous vehicles are difficult to take into account the state transition of complex and changeable environments, and cannot meet the real-time and accuracy of autonomous vehicles in complex environments. Control is the main m...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an automatic driving decision-making method for cross-sea bridge road conditions, so as to solve the problem that the existing automatic driving decision-making technology is difficult to take into account the state transition of complex and changeable environments, and cannot satisfy the real-time performance of automatic driving vehicles in complex environments. problem of accuracy

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