Title:
UNMANNED VEHICLE LANE CHANGING DECISION-MAKING METHOD AND SYSTEM BASED ON ADVERSARIAL IMITATION LEARNING
Document Type and Number:
WIPO Patent Application WO/2021/212728
Kind Code:
A1
Abstract:
An unmanned vehicle lane changing decision-making method based on adversarial imitation learning, and a system for implementing the method. The method comprises: first, describing an unmanned vehicle lane changing decision-making task as a partially observable Markov decision-making process; then, using an adversarial imitation learning method to perform training from examples provided by professional driving teaching to obtain an unmanned vehicle lane changing decision-making model; and in an unmanned driving process of a vehicle, obtaining a vehicle lane changing decision-making result by means of the unmanned vehicle lane changing decision-making model by taking currently obtained vehicle environmental information as an input parameter of the unmanned vehicle lane changing decision-making model. According to the method, a lane changing strategy is learned by means of adversarial imitation learning from examples provided by professional driving teaching; a task reward function is not required to be manually designed, and direct mapping from a vehicle state to a vehicle lane changing decision can be directly established, thereby effectively improving the correctness, robustness and adaptivity of the lane changing decision of the unmanned vehicle under a dynamic traffic flow condition.
Inventors:
QI KE (CN)
FAN LISHENG (CN)
FAN LISHENG (CN)
Application Number:
PCT/CN2020/115750
Publication Date:
October 28, 2021
Filing Date:
September 17, 2020
Export Citation:
Assignee:
UNIV GUANGZHOU (CN)
International Classes:
B60W50/00; G05D1/02
Foreign References:
| CN111483468A | 2020-08-04 | |||
| CN108919795A | 2018-11-30 | |||
| CN110568760A | 2019-12-13 | |||
| CN110619340A | 2019-12-27 | |||
| US20200079380A1 | 2020-03-12 | |||
| DE102018215055A1 | 2020-03-05 | |||
| JP2020032809A | 2020-03-05 |
Attorney, Agent or Firm:
GUANGZHOU HUAXUE INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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