The embodiment of the invention provides an intelligent automobile lane changing decision-making method and device, electronic equipment and a storage medium. The method comprises the steps that a virtual lane changing scene is constructed through a simulation method; constructing a decision model used for determining a mapping function between the state and the reward, and obtaining a Q table used for evaluating the lane change feasibility of the intelligent automobile based on the mapping function, so as to obtain a lane change decision, namely'lane change 'or'no lane change'; enabling the intelligent automobile to generate a random lane changing behavior based on a greedy algorithm under the constructed virtual lane changing scene, storing the state and rewards of the current lane changing behavior into an experience playback pool, when the number of state reward pairs in the experience playback pool reaches the minimum sample number, randomly sampling a plurality of state reward pairs from the state reward pairs to carry out single-step training on a decision model, and carrying out single-step training on the decision model; and storing a new state reward pair generated in the training process into an experience playback pool, and continuously repeating the training process until the maximum number of training times is reached to obtain a lane changing decision model. The lane changing decision generated by the method is high in safety and wide in applicability.

    本公开实施例提供的智能汽车换道决策方法、装置、电子设备和存储介质,包括:利用仿真方法构建虚拟换道场景;构建决策模型,用于确定状态与奖励之间的映射函数,基于映射函数得到用于评价智能汽车换道可行性的Q表,以此得到换道决策,即“换道”或者“不换道”;在构建的虚拟换道场景下基于贪婪算法使智能汽车产生随机的换道行为,将当前换道行为的状态和奖励存入经验回放池,当经验回放池中的状态奖励对个数达到最小样本数时,从中随机采样若干状态奖励对对决策模型进行单步训练,并将训练过程中产生的新的状态奖励对存入经验回放池,不断重复上述训练过程,直至达到最大训练次数,得到换道决策模型。本公开生成的换道决策安全性高且适用性广。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Intelligent automobile lane changing decision-making method and device, electronic equipment and storage medium


    Weitere Titelangaben:

    智能汽车换道决策方法、装置、电子设备和存储介质


    Beteiligte:
    HUANG KAISHENG (Autor:in) / LIN LI (Autor:in) / YUAN HONG (Autor:in)

    Erscheinungsdatum :

    2023-03-14


    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



    Lane changing decision-making method and device, electronic equipment and storage medium

    ZHANG YICHI / CAI QISHENG | Europäisches Patentamt | 2024

    Freier Zugriff


    LANE CHANGING DECISION-MAKING METHOD, DEVICE AND STORAGE MEDIUM

    LIANG YIXIAO / LIU DONGHAO / LUO JIE et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Lane changing decision-making method and electronic equipment

    SHEN JIAOJIAO | Europäisches Patentamt | 2022

    Freier Zugriff

    Lane changing decision-making method, device and equipment and readable storage medium

    QIAO MIAOMIAO / YIN ZHENG / WANG RONGRONG et al. | Europäisches Patentamt | 2022

    Freier Zugriff