CN111661034B - Vehicle body control method, system, terminal and storage medium based on deep recurrent neural network - Google Patents
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Abstract
The invention provides a vehicle body control method, a system, a terminal and a storage medium based on a deep recurrent neural network, wherein the recurrent neural network takes a region and/or object characteristics which are output at discrete time points and contain interest as input, carries out fusion, compression and coding through a compression coding module to obtain matrix data, selects and adjusts the memory of a cell layer through a forgetting gate and/or a memory gate of the neuron cell layer, retains the characteristics which play a role in the vehicle body near field control decision at the next moment, improves the dimension of the input characteristics layer by layer through layer progression of the neuron cell layer, and outputs the vehicle body near field transverse control decision and/or the vehicle body near field longitudinal control decision at the current moment. The invention not only considers the decision analysis dimensions of scene roads, scene traffic rules and the relative relation between the scene dynamic barrier and the vehicle body, but also can obtain real-time and continuous vehicle body control signals through the continuity of the input layer and the output time continuity of the recurrent neural network, thereby achieving the effects of dynamic obstacle avoidance and dynamic decision.
Description
Technical Field
The invention relates to the technical field of automotive electronics, in particular to a vehicle body control method, a vehicle body control system, a vehicle body control terminal and a storage medium based on a deep recurrent neural network.
Background
The lateral control mainly controls the course, and the vehicle runs according to the desired course by changing the torque or the angle of a steering wheel and the like. The longitudinal control is mainly speed control, the control of the speed is realized by controlling a brake, an accelerator, a gear and the like, and for an automatic transmission vehicle, the control objects are the brake and the accelerator.
The transverse control and the longitudinal control are one of core technologies in the field of intelligent driving of vehicles, and how to realize accurate transverse control/longitudinal control of the vehicles, especially how to realize accurate transverse control of the vehicles in traffic environments with complex road conditions (such as large-angle curves, obvious changes of road light, parking lots with dim light, or parking lot entrances or parking lot exits with rapid traffic flow, etc.). And the vertical accurate control of a brake, an accelerator, a gear and the like is realized under the conditions that the jam intention and the lane change intention are difficult to judge in the parking lot under the conditions of crowding and near-field vehicles, so that the problem to be solved at present is urgently needed.
Disclosure of Invention
In order to solve the above and other potential technical problems, the invention provides a vehicle body control method, system, terminal and storage medium based on a deep recurrent neural network, which inputs a vehicle body control network model based on the deep recurrent neural network through near-field perception data and global path planning, outputs vehicle body control signals in real time and feeds the vehicle body control signals back to the vehicle body control system for execution, the training of the vehicle body control network model obtains the control decision of a vehicle body at each moment through scene combination with vehicle body dynamics simulation, obtains a loss function by combining the comparison of a vehicle body dynamics simulation result and the output transverse/longitudinal control decision of the deep recurrent neural network to correct the network parameters of the deep recurrent neural network, and the current vehicle body transverse/longitudinal control signals output by the deep recurrent neural network not only consider scene roads, scene traffic rules, and the like, And decision analysis dimensions of the relative relation between the scene dynamic barrier and the vehicle body, and real-time and continuous vehicle body control signals can be obtained through the continuity of the input layer and the output time continuity of the recurrent neural network, so that the effects of dynamic barrier avoidance and dynamic decision are achieved.
A vehicle body control network model based on a deep recurrent neural network comprises:
the recurrent neural network takes the region and/or object characteristics, the vehicle body state, the vehicle body position and the posture which are output by the discrete time point compression coding module as input, carries out fusion, compression and coding by the compression coding module to obtain a matrix data packet which comprises the local path planning, the vehicle body state, the vehicle body position and the posture as input,
selecting and adjusting the memory of the cell layer through a forgetting gate and/or a memory gate of the neuron cell layer, reserving the characteristics or the vehicle body state, the vehicle body position and the posture information of an interested area and/or an object extracted from a near-field area where the vehicle body is located, which plays a role in the vehicle body near-field control decision at the next moment, and forgetting the characteristics, the vehicle body state, the vehicle body position and the posture information of the area and/or the object which do not contribute to the vehicle body near-field control decision at the next moment;
and increasing the dimension of the input features layer by layer through layer-by-layer progression of the neuron cell layer, and outputting the current vehicle body near-field transverse control decision and/or the vehicle body near-field longitudinal control decision.
Further, the input layer of the body control network model based on the deep recurrent neural network comprises:
The vehicle perception acquisition module acquires perception data of a near field area near a vehicle body according to the position of the vehicle body,
the global path planning module acquires a global path plan through a global path planning algorithm according to the vehicle body position signal, the destination end point position signal and the global map;
the interested region coding module extracts the characteristics of the interested region and/or the object in the vehicle near-field path strategy by taking the vehicle near-field region perception data and the global path plan as input,
the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body current state including but not limited to a steering wheel torque signal, a steering wheel angle value signal and a speed control signal from a vehicle body ECU; the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body position signal and a vehicle body posture signal from the vehicle body positioning module.
Further, the output layer of the vehicle body control network model based on the deep recurrent neural network further comprises the following modules:
a longitudinal delay acceleration module for accelerating the speed of the motor,
the longitudinal control signal output by the depth recurrent neural network is processed by a longitudinal delay acceleration module before being input into a near-field scene vehicle body dynamics simulation algorithm, so that the acceleration of the actual motion state of the vehicle body is prevented from generating time delay when the acceleration is adjusted by the vehicle longitudinal control accelerator.
Further, the process of mapping the input layer of the deep recurrent neural network-based vehicle body control network model to the model further comprises the following modules:
and the compression coding module is used for fusing, compressing and coding the interested region and/or object characteristics, the vehicle body state, the vehicle body position and the gesture in the near field region through the compression coding module to obtain a matrix data packet containing the local path plan, the vehicle body state, the vehicle body position and the gesture.
Further, the output layer post-processing process of the vehicle body control network model based on the deep recurrent neural network comprises the following steps:
and outputting the current time transverse control decision and longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision as input signals into an ECU of the vehicle body to control the vehicle body to execute the decisions.
Further, the output layer post-processing process of the vehicle body control network model based on the deep recurrent neural network comprises the following steps:
and outputting the current time transverse control decision and the longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision into a specific neuron cell layer of the recurrent neural network as input signals.
A vehicle body control network model training method based on a deep recurrent neural network,
the near-field scene path simulation module acquires near-field scene perception data and vehicle model information of the current position of the vehicle, and a near-field scene map is obtained through processing according to the near-field scene perception data;
the method comprises the steps that current vehicle body position, vehicle body posture, near-field perception environment data, current transverse control decision and longitudinal control decision output by a recurrent neural network are input into a near-field scene path simulation module, the near-field scene path simulation module outputs the vehicle body position, motion state and vehicle body posture of a vehicle model at each moment of a simulation state according to a vehicle body dynamics simulation algorithm of the vehicle model, information containing the vehicle body motion state and the vehicle body posture is compared with a control signal output by the recurrent neural network at the moment to obtain a loss function of the recurrent neural network, and the original recurrent neural network is corrected by the loss function.
Further, the vehicle body control network model training method based on the deep recurrent neural network further comprises a function of the near-field scene road virtual traffic rule, and the function comprising the near-field scene road virtual traffic rule is used for setting a traffic rule based on a near-field scene map and a preset virtual traffic rule.
A vehicle body control method based on a deep recurrent neural network comprises the following steps:
s01: obtaining a vehicle near field area map and a global path plan, taking the vehicle near field area map and the global path plan as input to obtain an interested area in a near field path planning strategy formulated for reaching the global path planning terminal,
s02: the interested area, the vehicle body state, the vehicle body position and the gesture in the near field area are input and are fused, compressed and encoded by a compression encoding module to obtain a matrix data packet containing the local path planning, the vehicle body state, the vehicle body position and the gesture,
s03: and inputting the matrix data packet into a recurrent neural network at a corresponding frequency, outputting a transverse control decision and a longitudinal control decision, and introducing the transverse control decision and the longitudinal control decision as input signals into an ECU of the vehicle body to control the vehicle body to execute the decisions.
Further, the vehicle body control method based on the deep recurrent neural network further includes step S04: and outputting a transverse control decision and a longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision into a specific neuron cell layer of the recurrent neural network as input signals.
A vehicle body control system based on a deep recurrent neural network comprises the following modules:
input layer
The system comprises a vehicle perception acquisition module, a global path planning module, an interested region coding module, a vehicle body state, vehicle body position and posture acquisition module;
the vehicle perception acquisition module acquires perception data of a near field area near a vehicle body according to the position of the vehicle body,
the global path planning module acquires a global path plan through a global path planning algorithm according to the vehicle body position signal, the destination end point position signal and the global map;
the interested region coding module extracts the characteristics of the interested region and/or the object in the vehicle near-field path strategy by taking the vehicle near-field region perception data and the global path plan as input,
the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body current state including but not limited to a steering wheel torque signal, a steering wheel angle value signal and a speed control signal from a vehicle body ECU; the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body position signal and a vehicle body posture signal from the vehicle body positioning module;
Network model
The method comprises the steps of identifying a neural network and a recurrent neural network in a region of interest;
the interesting region identification neural network takes a vehicle perception acquisition module and a global path planning module as input to acquire the characteristics of an interesting region and/or an object in a vehicle near-field path strategy;
the recurrent neural network progressively increases the dimension of the input characteristics layer by layer through the layer-by-layer progression of the neuron cell layer to obtain a transverse control decision which accords with the near field of the vehicle body and/or a longitudinal control decision of the near field of the vehicle body;
output layer post-processing
Comprises a decision execution module and a feedback module
The decision execution module takes the transverse control decision and the longitudinal control decision output by the recurrent neural network as input signals and guides the input signals into the vehicle body ECU to control the vehicle body to execute the decision;
the feedback module feeds the horizontal control decision and the vertical control decision output by the recurrent neural network as input signals back to a specific neuron cell layer of the recurrent neural network.
Further, the recurrent neural network is a deep recurrent neural network.
Further, the deep recurrent neural network includes n neuron cell layers, namely, a first neuron cell layer and a second neuron cell layer … from an input layer to an output layer, wherein the input of the first neuron cell layer includes a data cluster of a near-field moving object of the vehicle at the present time and cell memory data at a time on the first neuron cell layer, the input of the second neuron cell layer is an output result of the first neuron cell layer and cell memory data at a time on the second neuron cell layer, the input of the nth neuron cell layer is an output result of the n-1 neuron cell layer and cell memory data at a time on the nth neuron cell layer, the output of the nth neuron cell layer is a probability that each near-field moving object intends to predict a result, the first neuron cell layer, the second neuron layer, the third layer, the fourth layer, and the fourth layer are labeled as a third neuron layer, the input of the first neuron layer and the fourth layer, the input of the second layer are respectively the output result of the near-field moving object at the present time and the cell memory data at the present time on the third neuron layer, the present time is the present time, the output of the present time is the present time, the output of the present time is the present time, the present invention is the present invention, And training each branch model in parallel between the second neuron cell layer and the … nth neuron cell layer, aggregating parallel training results, synchronously and/or asynchronously updating model parameters and applying the model parameters to each branch model.
Further, the working principle of the neuron cell layer is as follows: the neuron cell layer is like a conventional memory cell, and comprises an input layer, a memory cell with self-circulation connection, a forgetting gate and an output layer; the input layer may allow the afferent signal to change the state of the cellular memory or prevent it. On the other hand, the input layer may allow the state of the cell memory to affect other neurons or prevent it. The state of which is, however, divided into two vectors: h (t) and c (t) ("c" stands for "cell"), h (t) is considered as a short-term state, which represents the input from the next layer of neuronal cells, and c (t) is considered as a long-term state, which represents the memory of the neuronal cells at the last moment, which can last from one time step to another. The recurrent neural network can learn the long-term state of the stored content, i.e., the cell memory can selectively modulate the interaction between the cell memory (i.e., memory cell) itself and the external environment through the forgetting gate and/or memory gate of the neuronal cell layer. As long-term state c (t-1) traverses the network from left to right, it first passes through a forgetting gate, discarding some of the memory cells at the previous time, and then adds some of the new cell memory addition operations at the current time (adding the memory selected by the input gate). Therefore, in a continuous time axis, some memory is discarded and some memory is added every time the layer is input once. Also, after the addition, the long-term state is replicated and passed through the tanh function (i.e., g (t)), and the result is filtered by the output layer. This results in a short-term state h (t).
Further, the role of the fully connected layer of the neuronal cell layer is: the input vector x (t) of the current input layer and the previous short-term state h (t-1) are fed to four different fully connected layers. The four fully connected layers all have different purposes: the second fully connected layer is the layer that outputs g (t). It has the effect of analyzing the current input x (t) and the previous (short-term) state h (t-1). In the cell layer of a conventional recurrent neural network, its output is directly output to y (t) and h (t). In the long-term memory neural network (LSTM), the output of h (t) is not directly output, but the directly output portion is stored in a long-term state. The first full connecting layer, the third full connecting layer and the fourth full connecting layer are all door controllers. Because they use the logistics activation function, their outputs range from 0 to 1. Their outputs are fed to the multiplication section so if they output 0 they close the door and if they output 1 they open the door. A forgetting gate controlled by the first fully-connected layer (controlled by f (t)) controls which part of the long-term state should be forgotten. The third fully-connected layer controlled input gate (controlled by i (t)) controls which portion of g (t) of the second fully-connected layer control should be added to the long-term state. Finally, the output gates of the fourth fully connected layer (controlled by o (t)) control which long-term parts should read and output the state at this time step (from h (t)) and y (t)). In summary, the long-term memory neural network unit can learn to recognize an important input by means of the action of the input gate, store it in a long-term state, forget an unnecessary part in accordance with the action of the forget gate, memorize a necessary part, and learn to extract it when necessary. They can be applied to capture the interesting parts of the input vector x (t) of the input layer in time series, long text, sound recordings, consecutive video frames.
A terminal device, such as a smart phone capable of executing the vehicle body control method program based on the deep recurrent neural network or a vehicle-mounted terminal control device capable of executing the vehicle body control method program based on the deep recurrent neural network.
The server comprises a vehicle body control method based on the deep recurrent neural network and/or a vehicle body control system based on the deep recurrent neural network.
A computer storage medium is used for storing a software program corresponding to the vehicle body control method based on the deep recurrent neural network and/or a vehicle body control system based on the deep recurrent neural network.
As described above, the present invention has the following advantageous effects:
the method comprises the steps of inputting a vehicle body control network model based on a deep recurrent neural network through near-field perception data and global path planning, outputting vehicle body control signals in real time to a vehicle body control system for execution, obtaining control decisions of a vehicle body at each moment through scene combination vehicle body dynamics simulation training of the vehicle body control network model, obtaining a loss function through comparison of a vehicle body dynamics simulation result and a transverse/longitudinal control decision output by the deep recurrent neural network, correcting network parameters of the deep recurrent neural network, considering decision analysis dimensions of scene roads, scene traffic rules and relative relation between scene dynamic obstacles and the vehicle body by the current vehicle body transverse/longitudinal control signals output by the deep recurrent neural network, and obtaining real-time data through continuity of an input layer of the recurrent neural network and time continuity of output, Continuous vehicle body control signals achieve the effects of dynamic obstacle avoidance and dynamic decision.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a layer of neuronal cells according to the invention.
FIG. 2 is a schematic diagram of the deep recurrent neural network of the present invention.
FIG. 3 is a schematic diagram of the vehicle body control network model training based on the deep recurrent neural network of the present invention.
Fig. 4 is a frame diagram of the vehicle body control network based on the deep recurrent neural network of the present invention.
FIG. 5 is a flow chart of the training of the vehicle body control network model based on the deep recurrent neural network of the present invention.
Fig. 6 is a flowchart of a vehicle body control method based on a deep recurrent neural network.
Fig. 7 is a frame diagram of the input layer of the vehicle body control network model based on the deep recurrent neural network.
Fig. 8 is a schematic diagram of a vehicle body control method based on a deep recurrent neural network.
Fig. 9 is a schematic diagram of a vehicle body control method based on a deep recurrent neural network in another embodiment.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
With reference to figures 4 to 7 of the drawings,
a vehicle body control network model based on a deep recurrent neural network comprises:
the recurrent neural network takes the region and/or object characteristics, the vehicle body state, the vehicle body position and the posture which are output by the discrete time point compression coding module as input, and carries out fusion, compression and coding through the compression coding module to obtain a matrix data packet which comprises the local path planning, the vehicle body state, the vehicle body position and the posture as input;
selecting and adjusting the memory of the cell layer through a forgetting gate and/or a memory gate of the neuron cell layer, reserving the characteristics or the vehicle body state, the vehicle body position and the posture information of an interested area and/or an object extracted from a near-field area where the vehicle body is located, which plays a role in the vehicle body near-field control decision at the next moment, and forgetting the characteristics, the vehicle body state, the vehicle body position and the posture information of the area and/or the object which do not contribute to the vehicle body near-field control decision at the next moment;
and increasing the dimension of the input features layer by layer through layer-by-layer progression of the neuron cell layer, and outputting the current vehicle body near-field transverse control decision and/or the vehicle body near-field longitudinal control decision.
As a preferred embodiment, the input layer of the vehicle body control network model based on the deep recurrent neural network comprises:
The vehicle perception acquisition module acquires perception data of a near field area near a vehicle body according to the position of the vehicle body,
the global path planning module acquires a global path plan through a global path planning algorithm according to the vehicle body position signal, the destination end point position signal and the global map;
the interested region coding module extracts the characteristics of the interested region and/or the object in the vehicle near-field path strategy by taking the vehicle near-field region perception data and the global path plan as input,
the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body current state including but not limited to a steering wheel torque signal, a steering wheel angle value signal and a speed control signal from a vehicle body ECU; the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body position signal and a vehicle body posture signal from the vehicle body positioning module.
As a preferred embodiment, the output layer of the vehicle body control network model based on the deep recurrent neural network further comprises the following modules:
a longitudinal delay acceleration module for accelerating the speed of the motor,
the longitudinal control signal output by the depth recurrent neural network is processed by a longitudinal delay acceleration module before being input into a near-field scene vehicle body dynamics simulation algorithm, so that the acceleration of the actual motion state of the vehicle body is prevented from generating time delay when the acceleration is adjusted by the vehicle longitudinal control accelerator.
In a preferred embodiment, the process of mapping the input layer of the deep recurrent neural network-based vehicle body control network model to the model further comprises the following modules:
and the compression coding module is used for fusing, compressing and coding the interested region and/or object characteristics, the vehicle body state, the vehicle body position and the gesture in the near field region through the compression coding module to obtain a matrix data packet containing the local path plan, the vehicle body state, the vehicle body position and the gesture.
As a preferred embodiment, the output layer post-processing procedure of the vehicle body control network model based on the deep recurrent neural network comprises the following steps:
and outputting the current time transverse control decision and longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision as input signals into an ECU of the vehicle body to control the vehicle body to execute the decisions.
As a preferred embodiment, the output layer post-processing procedure of the vehicle body control network model based on the deep recurrent neural network comprises the following steps:
and outputting the current time transverse control decision and the longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision into a specific neuron cell layer of the recurrent neural network as input signals.
Referring to fig. 5, a vehicle body control network model training method based on a deep recurrent neural network,
the near-field scene path simulation module acquires near-field scene perception data and vehicle model information of the current position of the vehicle, and a near-field scene map is obtained through processing according to the near-field scene perception data;
the method comprises the steps that current automobile body position, automobile body posture, near field perception environment data, current transverse control decision and longitudinal control decision output by a recurrent neural network are input into a near field scene path simulation module, the near field scene path simulation module outputs the automobile body position, motion state and automobile body posture of an automobile body at each moment of the automobile model in a simulation state according to an automobile body dynamics simulation algorithm of the automobile model, information containing the automobile body motion state and the automobile body posture is compared with a control signal output by the recurrent neural network at the moment to obtain a loss function of the recurrent neural network, and the original recurrent neural network is corrected by the loss function.
As a preferred embodiment, the vehicle body control network model training method based on the deep recurrent neural network further includes a function of the near-field scene road virtual traffic rule, and the function including the near-field scene road virtual traffic rule is used for setting a traffic rule based on a near-field scene map and a preset virtual traffic rule.
Referring to fig. 7 to 9, a vehicle body control method based on a deep recurrent neural network includes the following steps:
s01: obtaining a vehicle near field area map and a global path plan, taking the vehicle near field area map and the global path plan as input to obtain an interested area in a near field path planning strategy formulated for reaching the global path planning terminal,
s02: the interested area, the vehicle body state, the vehicle body position and the gesture in the near field area are input and are fused, compressed and encoded by a compression encoding module to obtain a matrix data packet containing the local path planning, the vehicle body state, the vehicle body position and the gesture,
s03: and inputting the matrix data packet into a recurrent neural network at a corresponding frequency, outputting a transverse control decision and a longitudinal control decision, and introducing the transverse control decision and the longitudinal control decision as input signals into an ECU of the vehicle body to control the vehicle body to execute the decisions.
As a preferred embodiment, the depth recurrent neural network-based vehicle body control method further includes step S04: and outputting a transverse control decision and a longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision into a specific neuron cell layer of the recurrent neural network as input signals.
Referring to fig. 7, a vehicle body control system based on a deep recurrent neural network includes the following modules:
input layer
The system comprises a vehicle perception acquisition module, a global path planning module, an interested region coding module, a vehicle body state, vehicle body position and posture acquisition module;
the vehicle perception acquisition module acquires perception data of a near field area near a vehicle body according to the position of the vehicle body,
the global path planning module acquires a global path plan through a global path planning algorithm according to the vehicle body position signal, the destination end point position signal and the global map;
the interested region coding module extracts the characteristics of the interested region and/or the object in the vehicle near-field path strategy by taking the vehicle near-field region perception data and the global path plan as input,
the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body current state including but not limited to a steering wheel torque signal, a steering wheel angle value signal and a speed control signal from a vehicle body ECU; the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body position signal and a vehicle body posture signal from the vehicle body positioning module;
Network model
The method comprises the steps of identifying a neural network and a recurrent neural network in a region of interest;
the interesting region identification neural network takes a vehicle perception acquisition module and a global path planning module as input to acquire the characteristics of an interesting region and/or an object in a vehicle near-field path strategy;
the recurrent neural network progressively increases the dimension of the input characteristics layer by layer through the layer-by-layer progression of the neuron cell layer to obtain a transverse control decision which accords with the near field of the vehicle body and/or a longitudinal control decision of the near field of the vehicle body;
output layer post-processing
Comprises a decision execution module and a feedback module
The decision execution module takes the transverse control decision and the longitudinal control decision output by the recurrent neural network as input signals and guides the input signals into the vehicle body ECU to control the vehicle body to execute the decision;
the feedback module feeds the horizontal control decision and the vertical control decision output by the recurrent neural network as input signals back to a specific neuron cell layer of the recurrent neural network.
Referring to fig. 1-3, as a preferred embodiment, the recurrent neural network is a deep recurrent neural network.
Referring to fig. 1 to 3, as a preferred embodiment, the deep recurrent neural network includes n neuron cell layers, namely, a first neuron cell layer and a second neuron cell layer …, which are labeled from an input layer to an output layer, respectively, the input of the first neuron cell layer includes a data cluster of a near-field moving object of the vehicle at the present time and cell memory data at a time on the first neuron cell layer, the input of the second neuron cell layer is an output result of the first neuron cell layer and cell memory data at a time on the second neuron cell layer, the input of the n neuron cell layer is an output result of the n-1 neuron cell layer and cell memory data at a time on the n neuron cell layer, and the output of the n neuron cell layer is a probability that each near-field moving object intends to predict a result, and training each branch model among the first neuron cell layer, the second neuron cell layer and the … nth neuron cell layer in parallel, aggregating parallel training results, synchronously and/or asynchronously updating model parameters and applying the model parameters to each branch model.
Referring to fig. 1 to 3, as a preferred embodiment, the operation principle of the neuron cell layer is as follows: the neuron cell layer is like a conventional storage unit cell and comprises an input layer, a storage unit with self-circulation connection, a forgetting gate and an output layer; the input layer may allow the afferent signal to change the state of the cellular memory or prevent it. On the other hand, the input layer may allow the state of the cell memory to affect other neurons or prevent it. The state of which is, however, divided into two vectors: h (t) and c (t) ("c" stands for "cell"), h (t) is considered as a short-term state, which represents the input from the next layer of neuronal cells, and c (t) is considered as a long-term state, which represents the memory of the neuronal cells at the last moment, which can last from one time step to another. The recurrent neural network can learn the long-term state of the stored content, i.e., the cell memory can selectively modulate the interaction between the cell memory (i.e., memory cell) itself and the external environment through the forgetting gate and/or memory gate of the neuronal cell layer. As long-term state c (t-1) traverses the network from left to right, it first passes through a forgetting gate, discarding some of the memory cells at the previous time, and then adds some of the new cell memory addition operations at the current time (adding the memory selected by the input gate). Therefore, in a continuous time axis, every time the input of the input layer is input once, some memory is discarded and some memory is added. Also, after the addition, the long-term state is replicated and passed through the tanh function (i.e., g (t)), and the result is filtered by the output layer. This results in a short-term state h (t).
Referring to fig. 1 to 3, as a preferred embodiment, the fully-connected layer of the neuron cell layer functions as: the input vector x (t) of the current input layer and the previous short-term state h (t-1) are fed to four different fully connected layers. The four fully connected layers all have different purposes: the second fully connected layer is the layer that outputs g (t). It has the effect of analyzing the current input x (t) and the previous (short-term) state h (t-1). In the cell layer of a conventional recurrent neural network, its output is directly output to y (t) and h (t). In the long-term memory neural network (LSTM), the output of h (t) is not directly output, but the directly output portion is stored in a long-term state. The first full connecting layer, the third full connecting layer and the fourth full connecting layer are all door controllers. Because they use the logistics activation function, their output ranges from 0 to 1. Their outputs are fed to the multiplication section so if they output 0 they close the door and if they output 1 they open the door. A forgetting gate controlled by the first fully-connected layer (controlled by f (t)) controls which part of the long-term state should be forgotten. The third fully-connected layer controlled input gate (controlled by i (t)) controls which portion of g (t) of the second fully-connected layer control should be added to the long-term state. Finally, the output gates of the fourth fully connected layer (controlled by o (t)) control which long-term parts should read and output the state at this time step (from h (t)) and y (t)). In summary, the long-term memory neural network unit can learn to recognize an important input by means of the action of the input gate, store it in a long-term state, forget an unnecessary part in accordance with the action of the forget gate, memorize a necessary part, and learn to extract it when necessary. They can be applied to capture the interesting part of the input vector x (t) of the input layer in time series, long text, audio recordings, consecutive video frames.
A terminal device, such as a smart phone capable of executing the vehicle body control method program based on the deep recurrent neural network or a vehicle-mounted terminal control device capable of executing the vehicle body control method program based on the deep recurrent neural network.
The server comprises a vehicle body control system and a vehicle body control method based on the deep recurrent neural network.
A computer storage medium is used for storing a software program corresponding to the vehicle body control method based on the deep recurrent neural network and/or a vehicle body control system based on the deep recurrent neural network.
As a preferred embodiment, this embodiment further provides a terminal device, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server, or a rack server (including an independent server or a server cluster composed of multiple servers) capable of executing programs. The terminal device of this embodiment at least includes but is not limited to: a memory and a processor communicatively coupled to each other via a system bus. It is noted that a terminal device having a component memory, a processor, but it is understood that not all of the illustrated components are required to be implemented, and that more or fewer components may be implemented in alternative body control methods based on deep recurrent neural networks.
As a preferred embodiment, the memory (i.e., readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the memory may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the computer device. Of course, the memory may also include both internal and external storage devices for the computer device. In this embodiment, the memory is generally used to store an operating system and various types of application software installed in the computer device, for example, in the embodiment, a program code of a vehicle body control method based on a deep recurrent neural network, and the like. In addition, the memory may also be used to temporarily store various types of data that have been output or are to be output.
A computer-readable storage medium having stored thereon a computer program, characterized in that: the program is executed by a processor to realize the steps in the vehicle body control method based on the deep recurrent neural network.
The present embodiment also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application mall, etc., on which a computer program is stored, which when executed by a processor implements corresponding functions. The computer-readable storage medium of the present embodiment is used for storing a program of a depth recurrent neural network-based vehicle body control method, and when the program is executed by a processor, the program realizes the depth recurrent neural network-based vehicle body control method in the depth recurrent neural network-based vehicle body control method embodiment.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the claims of the present invention.
Claims (12)
1. A vehicle body control network model based on a deep recurrent neural network is characterized by comprising the following components:
the recurrent neural network takes the region and/or object characteristics, the vehicle body state, the vehicle body position and the posture which are output by the discrete time point compression coding module as input, carries out fusion, compression and coding by the compression coding module to obtain a matrix data packet which comprises the local path planning, the vehicle body state, the vehicle body position and the posture as input,
selecting and adjusting the memory of the cell layer through a forgetting gate and/or a memory gate of the neuron cell layer, reserving the characteristics or the vehicle body state, the vehicle body position and the posture information of an interested area and/or an object extracted from a near-field area where the vehicle body is located, which plays a role in the vehicle body near-field control decision at the next moment, and forgetting the characteristics, the vehicle body state, the vehicle body position and the posture information of the area and/or the object which do not contribute to the vehicle body near-field control decision at the next moment;
and increasing the dimension of the input features layer by layer through layer-by-layer progression of the neuron cell layer, and outputting the current vehicle body near-field transverse control decision and/or the vehicle body near-field longitudinal control decision.
2. The deep recurrent neural network-based vehicle body control network model of claim 1, wherein the input layers of the deep recurrent neural network-based vehicle body control network model include:
The vehicle perception acquisition module acquires perception data of a near field area near a vehicle body according to the position of the vehicle body,
the global path planning module acquires a global path plan through a global path planning algorithm according to the vehicle body position signal, the destination end point position signal and the global map;
the interested region coding module extracts the characteristics of the interested region and/or the object in the vehicle near-field path strategy by taking the vehicle near-field region perception data and the global path plan as input,
the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body current state including but not limited to a steering wheel torque signal, a steering wheel angle value signal and a speed control signal from a vehicle body ECU; the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body position signal and a vehicle body posture signal from the vehicle body positioning module.
3. The deep recurrent neural network-based vehicle body control network model of claim 1, wherein the output layer of the deep recurrent neural network-based vehicle body control network model further comprises the following modules:
a longitudinal delay acceleration module for accelerating the speed of the motor,
the longitudinal control signal output by the depth recurrent neural network is processed by a longitudinal delay acceleration module before being input into a near-field scene vehicle body dynamics simulation algorithm, so that the acceleration of the actual motion state of the vehicle body is prevented from generating time delay when the acceleration is adjusted by the vehicle longitudinal control accelerator.
4. The deep recurrent neural network-based vehicle body control network model of claim 1, wherein the process of mapping the input layers of the deep recurrent neural network-based vehicle body control network model to the model further comprises the following modules:
and the compression coding module is used for fusing, compressing and coding the interested region and/or object characteristics, the vehicle body state, the vehicle body position and the gesture in the near field region through the compression coding module to obtain a matrix data packet containing the local path plan, the vehicle body state, the vehicle body position and the gesture.
5. The deep recurrent neural network-based vehicle body control network model according to any one of claims 1 to 4, wherein the output layer post-processing procedure of the deep recurrent neural network-based vehicle body control network model comprises the following steps:
and outputting the current time transverse control decision and longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision as input signals into an ECU of the vehicle body to control the vehicle body to execute the decisions.
6. The deep recurrent neural network-based vehicle body control network model according to claim 5, wherein the output layer post-processing procedure of the deep recurrent neural network-based vehicle body control network model comprises the following steps:
And outputting the current time transverse control decision and the longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision into a specific neuron cell layer of the recurrent neural network as input signals.
7. A vehicle body control method based on a deep recurrent neural network is characterized by comprising the following steps:
s01: obtaining a vehicle near field area map and a global path plan, taking the vehicle near field area map and the global path plan as input to obtain an interested area in a near field path planning strategy formulated for reaching the global path planning terminal,
s02: the interested area, the vehicle body state, the vehicle body position and the gesture in the near field area are input and are fused, compressed and encoded by a compression encoding module to obtain a matrix data packet containing the local path planning, the vehicle body state, the vehicle body position and the gesture,
s03: and inputting the matrix data packet into a recurrent neural network at a corresponding frequency, outputting a transverse control decision and a longitudinal control decision, and introducing the transverse control decision and the longitudinal control decision as input signals into an ECU of the vehicle body to control the vehicle body to execute the decisions.
8. The depth recurrent neural network-based vehicle body control method according to claim 7, wherein said depth recurrent neural network-based vehicle body control method further comprises step S04: and outputting a transverse control decision and a longitudinal control decision by the recurrent neural network, and introducing the transverse control decision and the longitudinal control decision into a specific neuron cell layer of the recurrent neural network as input signals.
9. A vehicle body control system based on a deep recurrent neural network is characterized by comprising the following modules:
input layer
The system comprises a vehicle perception acquisition module, a global path planning module, an interested region coding module, a vehicle body state, vehicle body position and posture acquisition module;
the vehicle perception acquisition module acquires perception data of a near field area near a vehicle body according to the position of the vehicle body,
the global path planning module acquires a global path plan through a global path planning algorithm according to the vehicle body position signal, the destination end point position signal and the global map;
the interested region coding module extracts the characteristics of the interested region and/or the object in the vehicle near-field path strategy by taking the vehicle near-field region perception data and the global path plan as input,
the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body current state including but not limited to a steering wheel torque signal, a steering wheel angle value signal and a speed control signal from a vehicle body ECU; the vehicle body state, vehicle body position and posture acquisition module acquires a vehicle body position signal and a vehicle body posture signal from the vehicle body positioning module;
Network model
The method comprises the steps of identifying a neural network and a recurrent neural network in a region of interest;
the interesting region identification neural network takes a vehicle perception acquisition module and a global path planning module as input to acquire the characteristics of an interesting region and/or an object in a vehicle near-field path strategy;
the recurrent neural network progressively increases the dimension of the input characteristics layer by layer through the layer-by-layer progression of the neuron cell layer to obtain a transverse control decision which accords with the near field of the vehicle body and/or a longitudinal control decision of the near field of the vehicle body;
output layer post-processing
Comprises a decision execution module and a feedback module
The decision execution module takes the transverse control decision and the longitudinal control decision output by the recurrent neural network as input signals and guides the input signals into the vehicle body ECU to control the vehicle body to execute the decision;
the feedback module feeds the horizontal control decision and the vertical control decision output by the recurrent neural network as input signals back to a specific neuron cell layer of the recurrent neural network.
10. A server, comprising a body control system for implementing the deep recurrent neural network-based body control method of any one of claims 7 to 8 and/or the deep recurrent neural network-based body control system of claim 9.
11. A terminal device characterized by: the terminal device is a smart phone for controlling the vehicle body control method based on the deep recurrent neural network according to any one of claims 7 to 8 or a vehicle-mounted terminal control device for executing the vehicle body control method based on the deep recurrent neural network according to any one of claims 7 to 8.
12. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implementing the steps in the method as claimed in any one of claims 7 to 8.
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