Tongji University

Yanjun Huang

Hong Chen

Bin Li

Lin Zhang

Qiang Meng

Shuo Yang

Yulong Bai

Jiatong Du

Xincheng Li

The present invention relates to a learning-oriented transferable automatic driving method and system driven by a world model. The method includes the following steps: constructing a simulation environment; collecting a large batch of data in the simulation environment, and collecting a small batch of data in the real environment; constructing a world model, and performing model training in the simulation environment by using the large batch of data, wherein the world model takes a camera image as an input to model an environment by using a generative world model; storing and transmitting historical moment information by hidden variables, and outputting an aerial view and a control instruction; and performing domain adaptive transferring training in the real environment on the basis of the small batch of data, and deploying the model in an autonomous vehicle in the real world to achieve virtuality-to-reality transferring general integrated automatic driving.

Learning-oriented transferable automatic driving method and system driven by world model

A parallel computing method for man-machine coordinated steering control of a smart vehicle based on risk assessment is provided, comprising the following steps: building a lateral kinetic equation model of a vehicle; building a target function by targeting at minimizing an offset distance of a vehicle driving track from a lane center line and making a change in a front wheel steering angle and a longitudinal acceleration as small as possible in a driving process; building a parallel computing architecture of a prediction model and the target function, and employing a triggering parallel computing method; solving and computing a gradient with a manner of back propagation and using a gradient descent method to obtain an optimal control amount of the front wheel steering angle and an optimal control amount of the longitudinal acceleration; and computing a driving weight, obtaining a desired front wheel steering angle and completing real time control.

Parallel computing method for man-machine coordinated steering control of smart vehicle based on risk assessment

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Shanghai, China

Yanjun Huang