The invention provides a model training method and device, a vehicle control method and device, electronic equipment and a vehicle, and relates to the technical field of computers. The method comprises the following steps: determining a first vehicle in a vehicle confluence scene or a vehicle confluence scene, and target obstacles located on a specified lane around the first vehicle; determining first state information of the first vehicle according to the driving data of the first vehicle and the driving data of the target obstacle; inputting the first state information into a reinforcement learning model to be trained to obtain a motion decision output by the reinforcement learning model; and according to second state information of the first vehicle after the first vehicle is controlled by the motion decision, predicting an evaluation reward value corresponding to the motion decision, and training the reinforcement learning model by taking the maximum evaluation reward value as a target. According to the invention, the flexibility of afflux or export decision making of the intelligent driving vehicle in the vehicle afflux scene or the vehicle export scene can be improved.
本申请提供了一种模型训练方法、车辆控制方法、装置、电子设备及车辆,涉及计算机技术领域。其中,方法包括:确定车辆汇入场景或车辆汇出场景下的第一车辆,以及第一车辆周围位于指定车道的目标障碍物;根据第一车辆的行驶数据和目标障碍物的行驶数据确定第一车辆的第一状态信息;将第一状态信息输入待训练的强化学习模型,得到强化学习模型输出的运动决策;根据以运动决策对第一车辆进行控制后第一车辆的第二状态信息,预测运动决策对应的评价奖励值,并以评价奖励值最大为目标训练强化学习模型。本申请能够提高车辆汇入场景或车辆汇出场景下智能驾驶车辆进行汇入或汇出决策的灵活性。
Model training method and device, vehicle control method and device, electronic equipment and vehicle
模型训练方法、车辆控制方法、装置、电子设备及车辆
18.04.2023
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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