The invention relates to the technical field of automatic driving control, in particular to a control parameter determination method and device, equipment, a storage medium and a vehicle. The method comprises the following steps: under the condition of auxiliary control of a driving object, acquiring state data of a vehicle during automatic driving; inputting the state data into a control parameter determination model to obtain control parameters output by the control parameter determination model; wherein the control parameter determination model is obtained by performing iterative training on an initial control parameter determination model based on updated training sample data; determining control error data corresponding to the control parameters; and under the condition that the control error data meets a preset control condition, determining automatic driving control parameters of the vehicle according to the control parameters. The automatic driving control parameters are automatically calibrated on line in real time through a reinforcement learning method, and the control parameters meeting the control precision requirement can be obtained without manual parameter adjustment in various scenes according to the scheme.
本申请涉及自动驾驶控制技术领域,尤其涉及一种控制参数确定方法、装置、设备、存储介质及车辆。该方法包括:在驾驶对象辅助控制的情况下,获取车辆在自动驾驶时的状态数据;将状态数据输入到控制参数确定模型,得到控制参数确定模型输出的控制参数;其中,控制参数确定模型为基于更新训练样本数据对初始控制参数确定模型进行迭代训练得到;确定控制参数对应的控制误差数据;在控制误差数据满足预设控制条件的情况下,根据控制参数确定车辆的自动驾驶控制参数。通过强化学习的方法实时在线对自动驾驶控制参数进行自动标定,该方案无需人工在多种场景下进行调参,即可得到满足控制精度要求控制参数。
Control parameter determination method and device, equipment, storage medium and vehicle
一种控制参数确定方法、装置、设备、存储介质及车辆
2023-01-13
Patent
Elektronische Ressource
Chinesisch
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 |
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