基于隐式时间信息的自动驾驶车辆高速公路决策

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主题词：自动驾驶车辆强化学习车辆行为决策隐式时间信息

中图分类号：U46 文献标志码：A DOI：10.19620/j.cnki.1000-3703.20250168

HighwayDecision Making for Autonomous Vehicles Based on Implicit TimeInformation

Guo Cangyan，Wang Shu， ZhangHaichuan，Zhao Xuan （School of Automobile，Chang'an University，Xi'an 710000）

【Abstract】In order to improve the continuityof vehicle decision making on highway，a behaviordecision model of autonomousvehicle basedonimplicit timeinformationis proposed.Firstly，thediscrete dynamicdecisionsolvingenvironment isconstructedtocalculatethestatevaluematrixbasedonimplicittimeinformation，forsolvingcontinuous-timebehavioral decisions，andthesolvabilityofthestatevalue matrix basedonimplicittimeinformationisanalyzed.Then，adualLSTM networkstructurebasedonresidualfiting isproposed torecognizevehiclelanechanging intention，whichmakes thebehavior decisionwithimplicittimeinformationbeteradapttothedyamicenvironment.Inaddition，inordertoimprovetheral-time performanceofdecision-making methods，rule-basedandlearning-basedupdatingmethodsareintegrated，andastatevalue updating method basedon backpropagation isproposed to improve thestate valueupdating eficiencyofdecision-making models intheexplorationand movement stage.Finally，arule-based intellgent environmentvehicle model isconstructedto simulate therealtraficenvironment，andthebehavioraldecisionmodelisvalidatedintheconstructedenvironment.The verification results show that the proposed method increases the success rate of decision-making by 26% and reduces the assistance rate of trigger rules in the dynamic decision-making environment by 19% .Thismethod has higher decision continuity.

Key words：Autonomous vehicle，Reinforcement learning，Vehicle behavior decision-making， mplicit time information

【引用格式】虢沧岩，王妹，张海川，等.基于隐式时间信息的自动驾驶车辆高速公路决策[J].汽车技术，2025（10）：41-51.GUOCY，WANGS，ZHANGHC，etal.Highway Decision Making forAutonomousVehiclesBasedon Implicit TimeInformation[J]. Automobile Technology，2025（1O）： 41-51.

1前言

尽管自动驾驶技术进展显著，其安全性与运行效能仍受现有技术瓶颈制约。（剩余16376字）