The embodiment of the invention discloses an automatic driving decision-making method and device, equipment and a storage medium. The method comprises the steps of obtaining current state information of an automatic driving target vehicle; the current state information is input into a preset reinforcement learning model for action decision making, current learning action information is obtained according to the output of the preset reinforcement learning model, and the preset reinforcement learning model is used for sampling each piece of state information in a state space by estimating a state transition probability; each piece of sampled state information is trained in a strategy search mode; current strategy action information is determined based on a target driving rule strategy, and the target driving rule strategy is a vehicle driving strategy obtained based on driver experience; and performing hybrid decision based on the current learning action information and the current strategy action information, and determining to-be-executed action information of the target vehicle. According to the technical scheme of the embodiment of the invention, the robustness and accuracy of driving decision making can be improved.

    本发明实施例公开了一种自动驾驶决策方法、装置、设备和存储介质,该方法包括:获取自动驾驶的目标车辆的当前状态信息;将当前状态信息输入至预设强化学习模型中进行动作决策,根据预设强化学习模型的输出,获得当前学习动作信息,其中,预设强化学习模型是通过估计状态转移概率对状态空间中的各个状态信息进行采样,并利用策略搜索方式对采样的每个状态信息进行训练获得的;基于目标驾驶规则策略确定当前策略动作信息,其中,目标驾驶规则策略是基于驾驶员经验获得的车辆驾驶策略;基于当前学习动作信息和当前策略动作信息进行混合决策,确定目标车辆的待执行动作信息。通过本发明实施例的技术方案,可以提高驾驶决策的鲁棒性和准确性。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Automatic driving decision-making method, device and equipment and storage medium


    Weitere Titelangaben:

    一种自动驾驶决策方法、装置、设备和存储介质


    Beteiligte:
    XU XIN (Autor:in)

    Erscheinungsdatum :

    2022-04-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




    Automatic driving decision-making method and device, electronic equipment and storage medium

    YAN LIRONG / HU YUFENG / YIN ZHISHUAI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Automatic driving decision-making method and device, electronic equipment and storage medium

    YAN LIRONG / HU YUFENG / YIN ZHISHUAI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Decision-making method, device and equipment for automatic driving equipment and readable storage medium

    ZHAO YAQIAN / LI RENGANG / LU LU et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Automatic driving decision-making method and device, electronic equipment, storage medium and vehicle

    MENG LIN / YU NING / PENG MINGXING et al. | Europäisches Patentamt | 2023

    Freier Zugriff